KEYWORDS: 3D metrology, Computer aided design, 3D modeling, Laser applications, Solid modeling, Mobile robots, Automatic tracking, Optical tracking, Control systems, Laser systems engineering
A Laser Guiding Measuring Robot (LGMR) based on the new technology of Laser-Guiding, SMR-Tracking has been
developed. LGMR can be guided by measuring laser beam to do 3D laser tracking measurement automatically. LGMR
consists of a measuring robot and a laser tracker system (LTS). The measuring robot is employed to carry SMR to track the
measuring laser beam from LTS. LTS is used to measure 3D position of SMR and then complete the measurement. The
CAD model of a measured object can be used to control the measuring laser beam from LTS to point to the measured
position. The measuring robot then tarcks the guiding laser beam and drives SMR to the measured position. This paper
presents the working principle and system framework of LGMR. The details of the robot design, implement and
experiment are also provided. The experiments prove that the proposed LGMR can measure a complicated object
automatically by using the CAD model of the measured objects. The developed LGMR makes it possible for LTS to do 3D
tracking measurement automatically by using the CAD model of a measured object to guide the measuring robot.
The laser Guiding Measurement Robot (LGMR) technology is based on the measurement method "laser beam moving,
Spherical Mounted Retro-reflector (SMR) tracking", which uses CAD model to control the position and attitude signals
of measuring laser beam that guides the robot carrying SMR to the required position to complete the measurement of the
objects together with a laser tracker. It is a key technology to be studied deeply how the CAD model is converted into the
signals, which can make laser beam scan and guide the device with SMR to move to the required position. This paper
describes the research work to the development of an optical guidance system for CMM with SMR by use of the CAD
model of a completed object. The working principle and structure of LGMR are presented firstly. Then the method
converting the CAD model to signals is studied successfully. Next, the guidance system employs the signals to make
laser beam point to the required position and guide the CMM with SMR to the position at the same time. Finally, the
experiment is carried out to prove the correctness of the methodology. The results show the maximum error of the
measured curve is 0.12mm.
The working principle and optical characteristic of cube corner retro-reflector (CCR) using in laser tracking system (LTS)
are analyzed. A novel approach has been proposed to determine the effective reflection area of CCR with an arbitrary
beam incidence angle. The optical model of CCR under the limitation of maximum incident angle and available
reflection area is developed based on rays tracing algorithm. Finally, the relationship between CCR measuring accuracy
and beam incident angle is established. Theoretical analysis and experimental results have demonstrated that the CCR
measuring accuracy reduces as the incident angle increases, the CCR measuring error is largest when the maximal
incident angle is reached. The maximal incident angle at which LTS can still work well is ±35°. The measuring accuracy
of a CCR can maintain the manufacturer specifications of LTS only when the incident angle is within ±20°.
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