Research On Aperture Measurement Path Planning And Error Compensation Method Based On Industrial Robot

With the development of science and technology,mechanical processing technology has made significant progress.The types of industrial products have shown a trend of diversification,and traditional product detection means have been difficult to meet the task requirements of large quantities and varieties.In order to improve the current situation of low inspection efficiency and high cost.and to adapt to the fast pace of future automated production,it is necessary to innovate current measurement technologies.In the nuclear industry,the parts of aperture need to be measured before assembly.The measurement task is complicated and heavy by reasons of a large number of holes.In this dissertation,a measurement method based on industrial robots is proposed to improve the aperture measurement efficiency.By using a touch sensor at the end of the robot,combined with robot kinematics and path planning methods,the aperture of the parts can be automatically and quickly measured.The main research work is as follows:1.An aperture measurement method and a way of corresponding path planning based on industrial robots are proposed.This paper studied the robot's trajectory planning and path planning,and proposes a five-point path planning method to ensure that the robot can accurately complete the aperture measurement task.The goal of shortest motion path is presented aiming at the numbers of holes,and the ant colony algorithm is used to solve the sequence planning problem of porous measurement to obtain the optimal measurement sequence and finally improve the robot measurement efficiency.2.robot's aperture measurement error compensation mode is established by analyzing the source of corresponding error.Aiming at the position error caused by the contact probe radius,a radius compensation model of the ball is proposed.For the travel error caused by delay lag of the measurement system,the experiment was designed to study the change law of the travel error,and a travel error compensation model was established by means of fitting.Experimental results show that the accuracy of the compensated robot measurement aperture has been significantly improved.3.A real-time and reliable measuring robot hardware and software control system is designed and implemented.The motion control module,servo drive module and data acquisition module are integrated.The single-hole measurement path planning and the porous measurement sequence planning results of the robot are simulated and analyzed,and the aperture measurement experiment is performed on the robot measurement platform.The method is validated from various aspects such as robot trajectory,path rationality,and measurement error.