Study On Large Free-form Surface Scanning Measurement Based On Industrial Robot And WMPS

For the measurement requirements of large surface, this paper proposed andinvestigated a new3D measurement method and technology of large surface on thebasis of the original “3D surface measurement system based on industrial robots”.Compared with the original system, there is an innovation that the industrial robotis only acted as the basic motion platform and no longer a component part of themeasuring accuracy link. In the field of cell-area measurement, the vision sensor isnot directly fixed on the end of industrial robot, but fixed on the slider of electricdisplacement guide rail which is then connected with the end joint of industrial robot.The cell-area scanning measurement is realized by the vision sensor driven by ahigh-precision electric displacement guide rail. This way has changed the traditionalscanning measurement model of robot directly driving the vision sensor, and avoidedthe measuring error caused by the poor robot positioning accuracy. Meanwhile, itcould provide high-precision cell-area measurement data. In the field of cellmeasurement data splicing, the Workspace Measuring and Positioning System(wMPS) is introduced to accurately position the end joint of robot atcell-measurement time, which has changed the traditional model of data splicingbased on the robot kinematics model, and could achieve high-precision global datasplicing.The main research contents include following parts.1. The research status of3D measurement technology of free-form surface athome and abroad is introduced. Based on the analysis of application requirements andthe original “3D surface measurement system based on industrial robots”, the researchpurpose, significance and the main content of this paper are clear here.2. With the guiding thought that the industrial robot is only acted as the basicmotion platform and no longer a component part in measuring accuracy link, anoverall system solution has been designed, a complete system architecture has beenbuilt and the system measuring mathematical model has been established.3. Based on the system measuring mathematical model, the calibration algorithmof dynamic relationship between sensor coordinate system and guide rail has beenmainly investigated and the calibration flow has been established. 4. wMPS has been imported to accurately position the end joint pose of robot atcell-measurement time. The research of global precise cell-measurement datastitching technique has been done, and the stitching flow has been established.5. The experimental system has been set up with the industrial robot, the electricdisplacement guide rail, the line-structured light vision sensor, wMPS, etc. andequipment, and the related experiments are designed for experimental verification.Experimental results have verified the rationality of the system scheme, thecorrectness and effectiveness of the relevant methods.