Laser guiding measurement robot and its geometric error analysis

摘要

In order to realize automatic and high-efficient measurement for objects,a Laser Guiding Measurement Robot(LGMR) technologic principle based on CAD model was presented and the measurement system was set up.LGMR technology and its working principle based on the measurement method laser beam moving,Spherical Mounted Retroreflector(SMR) tracking were introduced.An experimental robot was provided according to the technologic principle and the ideal geometry relationship of the LGMR was established.Then the mathematical models of main geometric errors were presented,including the eccentricity error of rotating axis for optical tracker and the angle error between nominal lines with practical line.Finally,a checking and measuring experiment was carried out by a Coordinate Measuring Machine(CMM) and the measurement system.The experimental results indicate that the eccentricity error of rotating axis is 0.01 mm and the error for SMR from ideal position is 0.13 mm.The error for SMR from ideal position is larger than an idea value,so the robot structure should be imporved.The experimental results also show that the error analysis plays an important role in designing and completing motion feedback control system of LGMR.