【摘要】 本文介绍了一种新型的非接触式机器人测量系统 ,该系统以串联机器手作为主体 ,激光位移传感器为测量探针 ,对球壳类、回转类部件的几何尺寸、表面缺陷进行非接触、高精度测量。该测量系统将机器人旋转关节的角位移测量转换成弧长测量。本文详细分析了这种方法的优缺点 ,以及机器人运动学参数的误差对机器人末端执行器位置精度的影响更多还原

【Abstract】 A new type of robotic measuring machine is being developed to implement noncontact and high accurate measurement of the revolving body. With the help of it, geometrical dimensions and surface defects of the workpieces could be obtained,and measurements of angular displacement of the robot revolute joints are converted into measurements of arc displacement of specified devices. This paper discusses the characteristics of this approach, and analyses the effects of kinematic parameter errors on position accuracy of the robot end-effector.更多还原