激光制导测量机器人运动系统设计

激光跟踪测量系统是目前最新型的便携式空间大尺寸坐标测量系统，但在测量大型被测对象时，人工布点及测量过程繁杂，测量效率低，并造成被测对象几何形状变形，严重影响其测量精度。为解决以上问题，提出了新型的“光束运动—光靶跟踪”激光跟踪测量方法，建立了新型激光跟踪测量方法论，并在此理论基础上，研制开发了一种能够在水平和垂直被测对象表面上运动小型轮臂复合式激光制导测量机器人。该机器人机构融合轮式机构、爬行臂式结构和真空吸附式机构优点，并且具有重量轻、体积小、运动灵活和反应快速等特点，可以根据不同的被测对象表面特征变换测量模式，利用轮式结构实现机器人在水平被测表面上高速远距离运动，利用爬行臂式和真空吸附式机构实现机器人在倾斜光滑表面上灵活地爬行和转向。对其运动特性进行了详细的分析。最后利用激光跟踪仪和三坐标测量机对研制激光制导测量机器人进行了性能测试，试验结果证明了该机器人能跟踪激光束自动高效地完成被测对象实体测量。

Design of motion system for laser guided measuring robot

Laser tracker system (LTS) is one of the latest portable three dimensional large size coordinate measuring machines (CMMs). It measures 3D coordinates with laser beam by following a spherical mounted retro-reflector (SMR) with the advantages of broad range, high speed and high accuracy. However, the current inspecting task of LTS is performed manually to move SMR along the different position on the surface of a given part and measured with complex course, low efficiency and the trial-and-error approach, which cause the deformation of measured part and seriously affect the measurement accuracy. In order to perform LTS more efficiently and automatically, a new laser tracking measurement theory of “laser beam moving and SMR tracking” is proposed. The laser guided measurement robot (LGMR) technology is studied and a miniature wheel-armed LGMR system is developed based on this theory which can move on the horizontal and vertical surface of measured part. The LGMR system combines the merits of wheeled mechanism, armed mechanism and vacuum-sorbs mechanism, and possesses many advantages, such as less weight, small volume, simplicity structure and quickly response. LGMR can changes the measuring modes according different characteristics of parts, it moves on the horizontal surface with high speed and remote distance using wheeled system, and climbs flexibly on the smooth inclined surfaces using crawling armed system. The moving characters of LGMR are analyzed in detail. The Faro SI laser tracker and Hexagon Globle9128 coordinate measuring machine (CMM) are used to test the performance of LGMR, the experimental results show that the LGMR can track laser beam automatically and effectively measure on the surfaces of given part.