面向空间目标的桁架机械手Z轴定位方法  

Z axis positioning of gantry robot for space target

作　　者：侯岱双 王华[1] 高金刚[1] 张爽[2] HOU Daishuang;WANG Hua;GAO Jingang;ZHANG Shuang(Automotive Component Testing Center, Changchun Institute of Technology, Changchun 130012, China;School of Mechatronic Engineering, Changchun Institute of Technology, Changchun 130012, China)

机构地区：[1]长春工程学院汽车零部件检测中心,吉林长春130012 [2]长春工程学院机电工程学院,吉林长春130012

出　　处：《长春工业大学学报》2021年第6期490-499,共10页Journal of Changchun University of Technology

基　　金：吉林省科技发展计划项目(20200401107GX,20210201047GX,20210502025ZP,20210101486JC)。

摘　　要：根据桁架机械手抓取工件的特征功能技术指标以及被测目标特征,构建了扫描与多位置共同约束的直径计算方法。利用频域配准技术将点云数据进行匹配,采用轮对装配零部件特征建立车轮及制动盘重构方法,重构后的轮对装配零部件点云数据求解轴线坐标。考虑直线度误差,提出Z轴精确定位计算方法,将测量结果数据与理论值经行数据对比。实验结果表明,桁架机械手Z轴定位精度为±0.5 mm,能够满足桁架机械手针对空间目标抓取定位的高精度、高稳定性及重复性等要求。According to the grasping characteristics and functional technical indexes of the gantry robot and the features of target,a diameter calculation with scanning and multi-position constraints is put forward.The point cloud data is matched with frequency domain registration technology.The features of wheelset assembly parts are used to rebuild the wheel and brake disc.The rebuilt wheelset assembly parts point cloud data is applied to calculate the axis coordinates.For the straightness error,a Z axis accurate positioning method is offered.The monitoring data is compared with the theoretical values,and the results indicate that the position accuracy is±0.5 mm,which meets the needs of precision,stability and repeatability of the gantry robot for spatial target grasping.

关 键 词：桁架机械手 Z轴定位 空间目标 三维重构 点云配准 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]