Study of 3-Dimensional Measuring Method For Robot Hands and Robot Arms

本研究提出了一种新的机械手和机械臂位置和运动轨迹的三维测量方法。主要研究成果如下：(1)该系统由激光探测器、两个水平激光扫描仪、一个垂直激光扫描仪、一个计时板和一台计算机组成。能够检测来自扫描器的光束的探测器被设置在目标点。扫描仪设置在那个点附近。每台扫描仪都有一个通过柱面透镜的线性激光束，称为线性激光束。激光探测器位于距离扫描仪2米处，可以在距线性激光束中心&lt；正负500 mm处进行探测。研制了两种使用塑料光纤的探测器。一种是具有单方向性的端面类型。(2)扫描仪由直线激光器、反射镜、空气轴承、皮带及皮带轮、同步电机和…组成采用低精度旋转编码器(弧度分辨率为72秒)和时间转换方法(时间分辨率为100纳秒)，实现了高分辨率角度测量。实验系统(扫描仪转速为1 RPS)可以在0.26秒的弧度分辨率下测量出扫描角，标准偏差约为0.8秒。(4)本文的研究是基于三个平面的交点只有一个平面的结论。平面可以通过测量与扫描原点的夹角来确定。这意味着使用三台扫描仪就可以计算出该点的坐标值。(5)在1米长的范围内进行了一维测量实验。探测器沿主刻度每隔100 mm移动一次。实验结果表明，定位精度为-lt；正负30微米，分辨率约为2.5微米，标准偏差约为8微米(6)在1m×800 mm的垂直平面上进行了二维测量实验。探测器在主平面上每100 mm网格移动一次。实验结果表明，中心区域定位精度为正负50 mm，外围定位精度为正负0.3 mm

The study proposes the new 3-dimensional measuring method for evaluation of positioning and motion locus of robot hands and robot arms.The followings are the summary of research results.(1) The system consists of a laser detector, two horizontal laser scanners, one vertical laser scanner, a time-counter board and a computer. The detector which can detect the beam from the scanners is set at the target point. The scanners are set around that point. Each of scanners has a linear spread of laser beam through a cylindrical lens, called linear laser beam. The laser detector was located at 2 meters from the scanner and could detect <plus-minus> 500 mm, from the center of the linear laser beam. Two type detectors using a plastic fiber have been developed. One is the end surface type which has mono directivity. The other is the corn type which has half sphere directivit(2) The scanner consists of a linear laser, a mirror, an air bearing, a set of belt and belt wheels, a synchronous motor and a … More rotary encoder.(3) Angular measurement with high resolution is realized using low precise rotary encoder (72 seconds of arc resolution) and time-conversion method (100 nsec of time resolution). It became clear that the scanning angle could be measured with 0.26 second of arc resolution by the experimental system (scanner rotation speed was 1 rps), and the standard deviation was about 0.8 second of arc.(4) The study is based on the following "if there is intersecting point of three planes, it is only one". The plane can be determined by measuring the angle from the scanning origin. That means by using three scanners, the coordinate values of the point can be calculated.(5) The 1-dimensional measuring experiment was done in length of 1 meter. The detector was moved every 100mm along the masterscale. As the results of the experiment, the accuracy of positioning was <plus-minus> 30 mum, the resolution was about 2.5 mum and the standard deviation was about 8 mu(6) The 2-dimensional measuring experiment was done on vertical plane of 1 meter X 800mm. The detector was moved every 100mm grid on the masterplane. As the results of the experiment, the accuracy of positioning was <plus-minus>50 mum around center area and <plus-minus>0.3mm on the outskirt of the a Less