复合式机器人接触式测量站位规划方法  

Contact Measurement Station Planning Method for Compound Robot

作　　者：郭建平 李泷杲[1] 黄翔[1] 侯国义 吴浩[1] GUO Jianping;LI Shuanggao;HUANG Xiang;HOU Guoyi;WU Hao(Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]南京航空航天大学,南京210016

出　　处：《航空制造技术》2024年第7期131-138,共8页Aeronautical Manufacturing Technology

基　　金：国防基础科研计划(JCKY2020605C014);江苏省卓越博士后计划(2022ZB217)。

摘　　要：在航空各部件的大空间测量中,针对人工测量工作强度大、检测精度不稳定、检测效率低等问题,提出基于全向移动复合式机器人的接触式测量机器人站位规划方法。首先进行机器人D-H参数建立以及关节转角求解,构建测量可达性约束模型,分析工具末端对机器人工作空间以及T-Mac与激光跟踪仪之间激光可达性的影响;然后针对最大工作限位和关节转角限位约束对大部件轴向以及径向进行机器人站位规划算法流程开发,保证测量特征点处于机器人工作限位内;最后基于AnyCAD几何引擎在三维虚拟环境中进行CAD模型测量特征点提取、站位规划、测量仿真。通过实例仿真试验对规划结果进行验证及评价,证明了站位规划算法可保证全部测量点的机器人可达性与激光可达性。In the large-space measurement of various aviation components,in view of the high workload of manual measurement,unstable detection accuracy and low detection efficiency,a contact measurement robot station planning method based on omnidirectional mobile compound robot is proposed.Firstly,the robot D-H parameters are established and the joint angle is solved,and the measurement accessibility constraint model is constructed.Analyze the impact of the tool end on the robot workspace and the laser accessibility between the T-Mac and the laser tracker;then carry out the robot station planning algorithm flow for the axial and radial directions of the engine according to the maximum working limit and joint angle limit constraints developed to ensure that the measurement feature points are within the working limit of the robot;finally,based on the AnyCAD geometry engine,the CAD model measurement feature point extraction,station planning,and measurement simulation are carried out in the 3D virtual environment.The planning results are verified and evaluated through the example simulation test:the station planning algorithm can ensure the robot accessibility and laser accessibility of all measurement points.

关 键 词：复合式机器人 激光跟踪仪 T-MAC 站位规划 接触式测量 AnyCAD 

分 类 号：V26[航空宇航科学与技术—航空宇航制造工程] TP242[自动化与计算机技术—检测技术与自动化装置]