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| 基于激光测距传感器的机器人末端定位扫描装置设计 | |
| 引用本文： | 张传清,陈恳,邵君奕,陈雁,尹华彬,朱丽. 基于激光测距传感器的机器人末端定位扫描装置设计[J]. 机械设计与制造, 2011, 0(11) |
| 作者姓名： | 张传清 陈恳 邵君奕 陈雁 尹华彬 朱丽 |
| 作者单位： | 1. 清华大学精密仪器与机械学系制造工程研究所,北京100084;装甲兵工程学院机械工程系,北京100072 2. 清华大学精密仪器与机械学系制造工程研究所,北京,100084 3. 成都飞机工业(集团)有限责任公司制造工程部,成都,610092 |
| 基金项目： | 国家自然科学基金资助项目(50975148、51005126) |
| 摘 要： | 为实现变截面复杂管道内壁喷涂机器人的定位、喷涂目标模型重建和喷涂轨迹规划功能,设计了末端激光定位扫描装置,描述了该装置传感器的选型、扫描头机构设计和相应的数学模型,并着重阐述了喷涂管道内截面自动扫描的流程以及测量路径规划算法的实现。实验证明,该设计实现了一类超常规尺寸喷涂目标在喷涂机器人坐标系中的数模重建功能,解决了逐点示教无法完成复杂内表面喷涂轨迹规划的问题。 |
| 关 键 词： | 喷涂机器人 激光测距传感器 测量路径规划 |
Design of rnd locating and scanning device for painting robot based on laser ranging sensor |
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| ZHANG Chuan-qing,CHEN Ken,SHAO Jun-yi,CHEN Yan,YIN Hua-bin,ZHU Li. Design of rnd locating and scanning device for painting robot based on laser ranging sensor[J]. Machinery Design & Manufacture, 2011, 0(11) | |
| Authors: | ZHANG Chuan-qing CHEN Ken SHAO Jun-yi CHEN Yan YIN Hua-bin ZHU Li |
| Affiliation: | ZHANG Chuan-qing1,2,CHEN Ken1,SHAO Jun-yi1,CHEN Yan1,YIN Hua-bin3,ZHU Li3(1Department of Precision Instruments and Mechanology,Tsinghua University,Beijing 100084,China)(2Department of Mechanical Engineering,Academy of Armored Force Engineering,Beijing 100072,China)(3Department of Manufacturing Engineering,Chengdu Aircraft Industrial(Group)Co.,Ltd,Chengdu 610092,China) |
| Abstract: | A device for painting robot end locating and scanning has been designed especially for variable cross-section S-shape pipe painting system to implement the function of locating of the robot,reconstructing the model of painting target and planning the painting trajectory in complicated piping.It focuses on expounding the sequence of automatic scanning the painting pipe cross-section and measurement path planning algorithm implementation,as well as sensor selection,design for scanning head mechanism and the c... |
| Keywords: | Painting robot Laser ranging sensor Path generation |
| 本文献已被 CNKI 万方数据 等数据库收录！ | |