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

该研究提出了一种新的三维测量方法来评估机器人手和机械臂的定位和运动轨迹。以下是对研究结果的总结。(1)系统由一个激光探测器、两个卧式激光扫描仪、一个立式激光扫描仪、一个计时板和一台计算机组成。将探测器设置在目标点上，探测器可以探测到来自扫描仪的光束。扫描器就在那附近。每台扫描仪都有一个通过圆柱形透镜的线性传播的激光束，称为线性激光束。激光探测器位于距离扫描仪2米的位置，可以探测到距离线性激光束中心<正负> 500 mm的区域。利用塑料纤维研制了两种类型探测器。一种是具有单向度的端面型。(2)该扫描仪由直线激光器、反射镜、空气轴承、一组皮带和带轮、同步电机和旋转编码器组成。(3)采用低精度旋转编码器（72秒弧分辨率）和时间转换方法（100 nsec时间分辨率）实现高分辨率的角度测量。通过实验系统（扫描仪转速为1 rps）可以测量出0.26秒弧分辨率的扫描角度，标准偏差约为0.8秒弧。(4)本研究基于“三个平面有交点，则只有一个交点”。可以通过测量与扫描原点的角度来确定平面。这意味着通过使用三个扫描仪，可以计算出点的坐标值。(5)进行长度为1米的一维测量实验。探测器沿母尺每100毫米移动一次。实验结果表明，定位精度<正负bbb30 μ m，分辨率约为2.5 μ m，标准差约为8 μ m(6)。二维测量实验在1 m X 800mm垂直平面上进行。探测器在主平面上每隔100mm网格移动一次。实验结果表明，定位精度在中心区域周边<±>50 mm，外围<±>0.3mm

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