【摘要】：面掃描三維測(cè)量技術(shù)具有非接觸、測(cè)量速度快、精度高等優(yōu)勢(shì),在鍛壓領(lǐng)域具有巨大的應(yīng)用潛力。但是通用的面掃描三維測(cè)量設(shè)備在測(cè)量過程中易受測(cè)量規(guī)劃、數(shù)據(jù)處理等人為因素影響,測(cè)量精度難以保證。為解決此問題,提出一種基于面掃描和六自由度機(jī)器手的自動(dòng)化三維測(cè)量技術(shù),該技術(shù)由六自由度機(jī)器手、三維測(cè)量頭、控制系統(tǒng)等組成,能夠充分利用機(jī)器手運(yùn)動(dòng)靈活、工作范圍大的特點(diǎn)和面掃描測(cè)量速度快、精度高的優(yōu)勢(shì)。此外,該技術(shù)采用了一種基于矩陣直積的手眼標(biāo)定算法,實(shí)現(xiàn)了多次測(cè)量數(shù)據(jù)的高精度自動(dòng)拼合。實(shí)際應(yīng)用表明,該技術(shù)能夠?qū)崿F(xiàn)復(fù)雜鍛件等工業(yè)產(chǎn)品的快速、精確、自動(dòng)三維測(cè)量和精度檢測(cè)。
[Abstract]:Surface scanning 3D measurement technology has the advantages of non-contact, fast measurement speed and high precision, and has great application potential in the field of forging. However, the general surface scanning 3D measuring equipment is easy to be affected by human factors such as measurement planning, data processing and so on, so it is difficult to guarantee the measurement accuracy. In order to solve this problem, an automatic three-dimensional measurement technology based on surface scanning and six-degree-of-freedom manipulator is proposed, which is composed of six-degree-of-freedom robotic hand, three-dimensional measuring head and control system, which can make full use of the characteristics of flexible movement and large working range of the manipulator, as well as the advantages of fast and high precision of surface scanning measurement. In addition, this technique adopts a hand eye calibration algorithm based on matrix direct product, and realizes the high precision automatic assembly of multiple measurement data. The practical application shows that this technology can realize the rapid, accurate, automatic three-dimensional measurement and accuracy detection of complex forgings and other industrial products.
【作者單位】： 武漢科技大學(xué)機(jī)械自動(dòng)化學(xué)院;華中科技大學(xué)材料成形與模具技術(shù)國家重點(diǎn)實(shí)驗(yàn)室;
【基金】：國家自然科學(xué)基金資助項(xiàng)目(51505169) 湖北省重大科技創(chuàng)新計(jì)劃(2013AEA003) 湖北省重點(diǎn)實(shí)驗(yàn)室基金資助項(xiàng)目(2013A06)
【分類號(hào)】：U466

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