面向大型筒件装配界面的机器人 扫描测量路径规划

The assembly interfaces are critical machining features ensuring the assembly quality for large cylindrical components. It is necessary to use effective measurement methods to obtain machining allowance and detect machining quality. The traditional measurement methods are characterized by complex processes, a heavy reliance on manual experience, and low efficiency. To address this problem, a robot-assisted laser scanning method for the assembly interfaces of large cylindrical components was proposed as an example of a large cylinder measurement process, and a measurement path planning study was carried out. Based on clustering algorithms, a viewpoint planning method for scanning measurement of assembly interfaces was proposed. Additionally, a viewpoint adjustment method for determining and resolving spatial interference and occlusions in the field of view was introduced. 127 interferencefree scanning measurement viewpoints had been planned. The Pose and Obstacle-aware Variable Weight Ant Colony Optimization (POVW-ACO) algorithm was proposed for path planning of scanning measurement viewpoints. The result and robustness were better than the traditional ACO algorithm. The planned scanning path was verified by simulation and physical experiment, and the results met the expected requirements in about 4. 5 min.