基于六轴串联机械手的双向反射分布函数测量装置  

BRDF device based on six-axis robot

作　　者：李俊麟[1] 张黎明[1] 司孝龙[1] 陈洪耀[1] 王戟翔[1] 沈政国[1] 

机构地区：[1]中国科学院安徽光学精密机械研究所通用光学定标与表征技术重点实验室,安徽合肥230031

出　　处：《光学精密工程》2014年第11期2983-2989,共7页Optics and Precision Engineering

基　　金：中国科学院科研装备研制项目(No.YZ201125);国家863高技术研究发展计划资助项目(No.2012AA12A3022)

摘　　要：由于现有的双向反射分布函数（BRDF）测量装置多为3轴系统,不能完全实现样品表面以上2π空间的全角度BRDF测量,本文研制了新型BRDF测量装置.该新型装置采用高精密六轴串联机械手作为待测目标的定位机构,使待测目标在测点进行三维转动;采用竖转台作为探测器探头的定位机构,使探头指向绕测点进行一维转动,从而形成4维转动以构建BRDF测量所需的4角几何关系.研制的装置可测量的入射和反射光束角度为：方位角0～360°、天顶角0～70°;光谱可扫描区350～2 500 nm.BRDF测量过程由测控软件控制,可高精度、无遮挡、全自动、快速地构建BRDF测量几何关系,一次待测目标和探测器定位以及光谱扫描、传输、显示、存储平均用时约8 s,测量不确定度优于2.5％（k=2）.As existing Bidirectional Reflectance Distribution Function （BRDF） measuring device is three-axis equipment,and it can not implement the whole angle BRDF measurement in a 2π space on the sample surface.Therefore,a new device was built for BRDF measurement in this paper.A six-axis robot was used as object positioning mechanism to implement three-dimensional rotating for changing the normal direction of the object at the measuring point,and a turntable was used as the detection positioning mechanism to implement one-dimensional rotating for changing the orientation of detector around the measuring point,so that four-dimensional rotation was constructed to form the four-angle geometry of BRDF measurement.The measuring geometry of incident and reflected beams of the device shows its azimuthal angle to be 0-360°,zenith angle to be 0-70°,and the spectral range is 350-2500 nm.The process of BRDF measurement is controlled by software,and the BRDF measuring geometry is constructed with high-precision,non-blocking,fully automation and speediness.With an average measurement of about 8 s,the device completes the geometry of construction and spectral scanning,transmission,display and the storage.The uncertainty budget of the device is less than 2.5%（k=2）.

关 键 词：定量遥感 双向反射分布函数测量仪 串联六轴机械手 漫射板 

分 类 号：TP73[自动化与计算机技术—检测技术与自动化装置] TP241.3[自动化与计算机技术—控制科学与工程]