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Chinese Journal of Lasers, Volume. 46, Issue 3, 0304006(2019)

Flexible Measurement Technology of Complex Curved Surface Three- Dimensional Shape Robot Based on iGPS

Li Liu1、*, Guoqing Ma1、*, Yi Gao1, and Qiang Wang2
Author Affiliations
  • 1 College of Mechanical Engineering, Changchun University of Science and Technology,Changchun, Jilin 130022, China
  • 2 College of Optoelectronic Engineering, Changchun University of Science and Technology,Changchun, Jilin 130022, China
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    AbstractGet PDF(in Chinese)
    Figures&Tables (12)
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    Cited By (5)
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    Figures & Tables(12)
    System composition block diagram

    Fig. 1. System composition block diagram

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    Overall layout

    Fig. 2. Overall layout

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    Optical topography sensor

    Fig. 3. Optical topography sensor

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    Morphology sensor measurement principle

    Fig. 4. Morphology sensor measurement principle

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    Compositional devices of iGPS system

    Fig. 5. Compositional devices of iGPS system

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    iGPS measurement principle schematic

    Fig. 6. iGPS measurement principle schematic

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    System coordinate system. (a) Coordinate system related to robot system; (b) iGPS coordinate system

    Fig. 7. System coordinate system. (a) Coordinate system related to robot system; (b) iGPS coordinate system

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    Robot measurement system

    Fig. 8. Robot measurement system

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    Measurement experiment of double arched workpiece

    Fig. 9. Measurement experiment of double arched workpiece

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    Measured workpiece deviation comparison result

    Fig. 10. Measured workpiece deviation comparison result

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    • Table 1. Verification experiment data of length measurement accuracy

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      Table 1. Verification experiment data of length measurement accuracy

      Serial numberTheoretical value /mmMeasured value /mmAbsolute error /mmError percentage /%
      d1160.997161.0940.0970.06025
      d21258.2161258.070-0.116-0.00922
      d3356.222356.068-0.154-0.04323
      d41445.7261445.8070.0810.005603
      d5556.791556.9660.1250.02245
      d6680.309680.4630.1540.022637
      d71771.1741770.885-0.189-0.01067
      d8883.220883.042-0.178-0.02015
      d91013.9561013.861-0.095-0.00937
      d101143.7991143.9370.1380.012065
      d111289.8201289.9920.1720.013335
      d12956.423956.261-0.162-0.01694
      d131245.5621245.7090.1470.011802
      d141821.4521821.260-0.192-0.01054
      d152015.4332015.301-0.132-0.00655

    • Table 2. Data of repeated measurement accuracy verification experiment

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      Table 2. Data of repeated measurement accuracy verification experiment

      Serial numberx /mmy /mmz /mm
      P11354.525-580.849-887.229
      P21354.548-580.857-887.287
      P31354.537-580.881-887.264
      P41354.550-580.832-887.243
      P51354.537-580.813-887.259
      P61354.529-580.849-887.301
      P71354.540-580.875-887.287
      P81354.518-580.842-887.244
      P91354.561-580.831-887.274
      P101354.534-580.900-887.307
      P111354.581-580.874-887.256
      P121354.523-580.856-887.288
      P131354.544-580.829-887.231
      P141354.558-580.893-887.216
      P151354.576-580.837-887.296
      3σ0.0580.0860.078
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    Li Liu, Guoqing Ma, Yi Gao, Qiang Wang. Flexible Measurement Technology of Complex Curved Surface Three- Dimensional Shape Robot Based on iGPS[J]. Chinese Journal of Lasers, 2019, 46(3): 0304006

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    Paper Information

    Category: measurement and metrology

    Received: Sep. 29, 2018

    Accepted: Oct. 22, 2018

    Published Online: May. 9, 2019

    The Author Email:

    DOI:10.3788/CJL201946.0304006

    Topics

    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology