The Research On On-line Inspection For Impeller Based On Robot Measurement Test Bed

With the development of computer, microelectronics and automation technologies, which include on-line inspection and reverse engineering, are playing more and more important roles in industrial modernization, and the national economy. As an challengeable research topic, on-line inspection technology has been paid attention in advanced manufacturing/machining technologies research field. Based on the above background, the integrated impeller is taken as an on-line inspection object, the data registration, the probe hand-eye calibration, the radius compensation, path planning etc. are researched.First, the data registration scheme for CAD model of the impeller is studied. At present, many of the data registration algorithms are based on the image matching, these algorithms make better matching results for the two-dimensional scene, but it is not applicable to the three-dimensional scene, so that a novel system identification algorithm for data registration is presented, also the error analysis for data registration algorithm is given.Secondly, an effective approach of probe hand-eye calibration is given. When the manipulator with probe measures surface data, the obtained data should belong to the center point of the probe, so that the relationships of rotation and translation from manipulator flange coordinate to the core of probe have to calibrated. The Renishaw contact probe is taken as a sensor in our test bed. For all measured values locating at the center of roundness, radius compensation for the probe has to be done. The both of radius compensation methods for the known surface and unknown surface are analyzed respectively.Path Planning is an important part of the on-line impeller 3D inspection systems due to its complex structure. The path planning has to include control points, adaptive choice posture for the probe and path optimization etc..Finally, system errors such as data registration error between the CAD model and practicality, the error of probe hand-eye calibration and so on, are put forward and analysed. From some test results about impeller online inspection, the overall error of the presented on-line inspection system is given.