We have designed a device of manipulator end locating and workpiece scanning, especially for simplifying the reconstruction, relative positioning and machining path planning function of workpiece model in robot coordinate. In this paper, sensor selection of the device, design of the scanning head mechanism and the corresponding mathematical model are introduced. Components and working principle of real-time control system are also included. Studies in this paper mainly describe the automatic scanning process of the internal surface of spraying pipe as well as the planning algorithm of path measurement. It can be concluded basing on the experimental results that the digital analog reconstruction function in robot coordinate of workpiece with the non-structural section can be achieved according to this design.
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