Research On Probe Path Planning Strategy For Surface Quality Inspection Machine Of Automotive Flywheels

The flywheel is one of the most crucial components of an automobile engine,and its precision and assembly quality are essential for engine performance and lifespan.Therefore,comprehensive testing of the flywheel is necessary.Currently,commonly used flywheel testing methods use a distributed testing approach,where different parts of the automobile flywheel are tested at different workstations,which is laborious and time-consuming.Thus,this study proposes a laser-based non-contact testing method for automobile flywheels that can complete testing of the three desired parts of the flywheel using a single laser testing probe.Compared to the current distributed testing method,this approach significantly improves testing speed,and appropriate laser testing probes can meet the required testing accuracy.To avoid wear and tear of automobile components caused by contact testing,a noncontact testing method is employed.The direct laser triangulation method is selected over the oblique laser triangulation method due to the high scattering rate of the automobile flywheel surface.To further optimize testing,the testing path is planned.The study conducts kinematic modeling of the automobile flywheel testing manipulator using the D-H parameter method and solves and verifies its forward and inverse kinematic equations.The study also introduces position linear interpolation and quaternion spherical linear interpolation in the posture planning method and conducts simulation to prove its feasibility.To accelerate testing speed,the ant colony algorithm is used to plan the laser testing probe’s movement path between each testing position.The study optimizes the ant colony algorithm’s information update rule,state transition probability selection,heuristic function,information upper and lower limit setting,and information attenuation coefficient adjustment and introduces the algorithm’s implementation process.Through simulation of testing machine path planning,the optimal movement path of the testing machine is obtained.The planning result is compared with the conventional ant colony algorithm planning result,and the optimal path is shorter and the iteration speed is faster.Based on the optimal path,the automobile flywheel testing manipulator’s trajectory planning is conducted.The expected joint angle is obtained through inverse solution function,and the control torque is calculated through the torque control module by subtracting the expected joint angle from the actual joint angle,achieving control of the manipulator.Compared to the expected joint curve,the actual joint curve only has minor differences at the joint angle.The optimal path planned can be achieved through the manipulator.Through simulation analysis and experimental verification,the optimized ant colony algorithm performs better in terms of convergence speed and path length than the conventional ant colony algorithm,and the testing speed is faster than the currently used distributed testing method.