工业机器人辅助3D激光扫描测量系统的轨迹规划  

Trajectory Planning of a Robot-assisted 3D Laser Scanning System

作　　者：张之沣[1] 汪苏[1,2] 苗新刚[2] 郑娇[1] 

机构地区：[1]北京建筑工程学院电气与信息工程学院,北京100044 [2]北京建筑工程学院北京市安全监测工程技术研究中心,北京100044

出　　处：《机床与液压》2013年第17期38-40,43,共4页Machine Tool & Hydraulics

基　　金：北京市科学技术委员会科技计划重点项目(Z111106055311101)

摘　　要：复杂结构件装配平台采用了多种数控装配工具,能够实现自动化夹持、铆接、无缝校准对接和制孔,也可以完成复杂部件装配连接等工程。而根据复杂结构件装配工艺要求,不仅要对装配零件的空间位置进行定位,而且必须具有较高的控制精度和自动化程度。针对该平台,设计了一套工业机器人辅助3D激光扫描测量系统,建立了适合该平台的测量系统的原理模型,并对机器人旋转扫描轨迹进行规划,通过实例计算得出了机器人末端的坐标轨迹方程,为后面的实际装配测量提供了良好的理论基础。The assembly platform of complex structures with a variety of CNC assembly tools can be used to achieve automated clamping, riveting, drilling, seamless calibration docking, as well as complex component assembly connection engineering. According to the requirements of assembly process, the assembly platform not only can be used to locate spatial position of assembly parts, but al- so must have high control accuracy and automation. For the platform, a industrial robot-assisted 3 D laser scanning measurement system was designed. The principle model of the measurement system for the platform was established. The rotating scan trajectory of the robot was planned. The results provide theoretical basis for the next actual assembly measurement experiment.

关 键 词：装配平台 激光扫描 轨迹规划 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]