Mechanism kinematic system of laser guiding measurement robot technology

Abstract

Laser guiding measurement robot (LGMR) technology is based on the measurement method ldquolaser beam moving, spherical mounted retro-reflector (SMR) trackingrdquo. It is a key technology to be studied deeply how the robot surmounts the obstacles. This paper describes the research work to mechanism kinematic schemes for laser guiding measurement robot. The working principle was presented firstly and the integral structure of laser guiding measurement robot system was concretely introduced including wheel movement system, optical tracker, and obstacles-surmounted mechanism, etc. Especially the obstacles-surmounted mechanism was studied in the paper. Its motion scheme was given and analyzed deeply. Then the kinematics mathematical model for surmounting obstacle was given. Based on the model, the computer imitation was carried through and the sample robot was designed. Finally, an experiment was carried out to prove the correctness and feasibility of both the obstacles-surmounted mechanism and the measurement. It used a body and stamping parts with an obstacle. And the measurement was taken by laser tracker. The maximum profile error of the measured sheet metal is 0.05 mm. And the experimental results show that the mechanism kinematic schemes are effective to fulfill the movement tasks and the measurement for the body and stamping parts. The research is helpful and important to the optimization and improvement of the robot mechanism.