Aiming at the problem that the spherically mounted retroreflector(SMR)is easy to break laser in the measurement work of laser tracker and the need of manual laser guidance,a device named active SMR device which can automatically align the laser was designed.The design of the control circuit was realized based on the STM32 series microcontroller.By continuously monitoring the tracking angle of the laser tracker and the self-rotation angle of the SMR,the angular deviation between the SMR and the incident laser of the tracker was calculated accurately.Subsequently,the control over the reverse rotation of the SMR was achieved to align the laser.The active SMR device was integrated onto a quadruped robot for performance testing.The research outcomes underscore that the utilization of the proposed active SMR device effectively mitigates times of laser tracker laser interruption,enhances the measurement efficiency of the tracker in fields such as online robot inspection,underscoring its strong feasibility and practical utility.
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