基于激光测距传感器的机器人末端定位扫描装置设计

摘要

为实现变截面复杂管道内壁喷涂机器人的定位、喷涂目标模型重建和喷涂轨迹规划功能,设计了末端激光定位扫描装置,描述了该装置传感器的选型、扫描头机构设计和相应的数学模型,并着重阐述了喷涂管道内截面自动扫描的流程以及测量路径规划算法的实现.实验证明,该设计实现了一类超常规尺寸喷涂目标在喷涂机器人坐标系中的数模重建功能,解决了逐点示教无法完成复杂内表面喷涂轨迹规划的问题.%A device for painting robot end locating and scanning has been designed especially for variable cross-section S-shape pipe painting system to implement the Junction of locating of the robot,reconstructing the model of painting target and planning the painting trajectory in complicated piping.It focuses on expounding the sequence of automatic scanning the painting pipe cross-section and measurement path planning algorithm implementation,as well as sensor selection,design for scanning head mechanism and the corresponding mathematical model.It is verified through test that the design implements the mathematical model reconstructing of hypernormal size painting target in coordinate system of painting robot and solve the problem which is impossible to implement the painting trajectory planning for complicated internal surface.