Contact Measurement Station Planning Method for Compound Robot
In the large-space measurement of various aviation components,in view of the high workload of manual measurement,unstable detection accuracy and low detection efficiency,a contact measurement robot station planning method based on omnidirectional mobile compound robot is proposed.Firstly,the robot D-H parameters are established and the joint angle is solved,and the measurement accessibility constraint model is constructed.Analyze the impact of the tool end on the robot workspace and the laser accessibility between the T-Mac and the laser tracker;then carry out the robot station planning algorithm flow for the axial and radial directions of the engine according to the maximum working limit and joint angle limit constraints developed to ensure that the measurement feature points are within the working limit of the robot;finally,based on the AnyCAD geometry engine,the CAD model measurement feature point extraction,station planning,and measurement simulation are carried out in the 3D virtual environment.The planning results are verified and evaluated through the example simulation test:the station planning algorithm can ensure the robot accessibility and laser accessibility of all measurement points.
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