摘要
针对带有深孔特征的异型曲面三维形貌的测量需求,提出基于CAD(Computer Aided Design)数模提取信息进行自适应布点的方法和基于法向精度控制的轨迹规划测量方法。通过对机器人的位移-时间、速度-时间与加速度-时间曲线的仿真分析,验证了运用高阶多项式插值法可得到平滑的轨迹曲线。通过基于法向精度控制的形貌测量实验分析形貌测量过程中TCP(Tool Centror Point)的位置偏差与角度偏差,发现位置偏差小于0.092 mm,角度偏差在0.19°内,证明了所提方法的可行性。
Aiming at the requirements of three-dimensional shape measurement of profiled surfaces with the deep hole feature, a method based on CAD(Computer Aided Design) digital model extraction information for self-adaptability measurement and a trajectory planning measurement method based on normal precision control are proposed. The simulation analysis of the displacement-time, speed-time and acceleration-time curves of a robot verifies the smoothness of the trajectory curve obtained by the high-order polynomial interpolation method. The positional deviation and angular deviation of TCP(Tool Centror Point) in the process of shape measurement are verified by the shape measurement experiment based on the normal precision control. The position deviation is within 0.092 mm and the angular deviation is within 0.19°, which proves the feasibility of the proposed method.
作者
刘丽
马国庆
高艺
范师杰
Liu Li;Ma Guoqing;Gao Yi;Fan Shijie(College of Mechanical Engineering,Changchun University of Science and Technology,Changchun,Jilin130022,China)
出处
《中国激光》
EI
CAS
CSCD
北大核心
2019年第2期118-125,共8页
Chinese Journal of Lasers
基金
吉林省科技发展计划(20160204016GX
20180623031TC)
吉林省省级产业创新专项资金资助项目(2016C088
2017C045-2)
长春理工大学青年科学基金(XQNJJ-2016-04
XQNJJ-2017-11)
吉林省教育厅"十三五"科学技术项目(JJKH20170626KJ)
关键词
测量
形貌测量
机器人
轨迹规划
measurement
morphology measurement
robot
trajectory planning