基于工业机器人的三维扫描测量实验平台设计

Design of Three-dimensional Scanning Measurement Experimental Platform Based on Industrial Robot

为支撑新工科专业人才培养,设计一套三维扫描测量实验平台。平台硬件系统主要包括工业机器人、激光扫描仪和光学跟踪系统;在OpenCASCADE软件平台实现三维交互环境创建、待测零部件CAD模型导入;依据自由曲面曲率特征提取自由曲面测量点,用四元数方法计算机器人末端在各测量点的空间位姿;在仿真软件RobotStudio生成机器人扫描测量路径并进行碰撞检测,将扫描路径输出为机器人可执行文件加载到工业机器人,实现高效率、高精度扫描测量。平台可服务智能感知工程专业的“三维智能感知技术”课程,有助于学生深入理解光学精密测量、机器人建模等相关知识,提高学生解决复杂检测问题的实践能力和创新能力。

To support the talent training of new engineering majors,a set of 3D scanning measurement experimental platform is designed.The hardware system of the experimental platform mainly includes industrial robot,laser scanner and optical tracking system.The 3D interactive environment is created and the CAD model of the parts to be measured is imported on OpenCASCADE.The measurement points of the free-form surface are extracted according to the curvature characteristics of the free-form surface,the position and pose of the robot end at each measurement point are calculated by quaternion method.The robot scanning path is generated and collision detection is carried out in the simulation software RobotStudio.The robot executable file of scanning path is generated and loaded on the robot,then the scanning measurement with high efficiency and high precision is completed.The experimental platform can support the“Three-dimensional Intelligent Perception Technology”course under the intelligent perception engineering major.It is helpful for students to have a deep understanding of optical precision measurement,robot modeling and other related knowledge,and improve students’practical ability and innovation ability to solve complex detection problems.