The Research On Optimization Technique For Robot System Of Reverse Engineering

With the rapid development of manufacturing, flexible production and remanufacture are playing more and more important role in industrial production. Measurements and inspections are the fundamental issues in above industrial fields. In recent years, measurement techniques are becoming more and more advanced and three-dimensional (3D) laser measurements are widely used in manufacturing due to its high precision, non-contact, fast speed and many other advantages. The rapid development of remanufacture industry in China improves the level of resource conservation and environmental protection, which makes it possible to achieve the goals of industrial production with low carbon and sustainable development. Robotic system for reverse engineering is an important production platform of remanufacture industry and it is crucial to optimize this system for improving the efficiency and quality of production in remanufacture field.The optimization of filter error compensation and path planning are presented in this thesis. The filter error compensation serves as a base of accuracy improvement for 3D laser scanning. The reasonable scheme for repairing different kinds of damaged parts can be provided by the research on the path planning. The main contributions of this thesis are listed as follows:1. It is well known that the accuracy of 3D laser scanning can be reduced by ambient light, therefore a filter was mounted on the camera and the irrelevant rays were filtered out so that the accuracy is guaranteed. However, at the same time, the entering path of light had been changed, thus some measurement error was brought in when using the same camera model. The more comprehensive study on filter error compensation was made based on the analysis of filter error. Furthermore, four effective compensation programs including curve fitting, neural network, direct compensation and modeling methods were given.2. According to the characteristics of the presented robotic system for reverse engineering, some important calibration algorithms were firstly introduced and implemented in this thesis. Secondly, the path algorithm for repairing damaged work pieces was implemented based on the techniques including ICP registration, principal component analysis, point cloud slices and convex hull searching. Finally, the reliability and effectiveness of this solution is validated via some real repairing experiments.