Abstract
In order to realize the automatic measurement and positioning drilling of the end face’s hole of the turbine blade, a system of automatic measurement, positioning and drilling is built by using a binocular vision laser scanner, drilling tool, and industrial robot et al., and an adaptive method of position-pose for the robot to locate the end face’s hole of the blade is proposed. In this method, the laser scanning is used to measure the point cloud of the end face of the blade, and the position coordinates and the normal vector of the hole are determined. The drill calibration algorithm and hand-eye calibration algorithm are used to realize the parameterization of the system. Based on the coordinate system transformation principle, through the projection transformation of the normal vector determines the optimal pose of positioning the end face’s hole for the coordinate system of the drill tool central point, and the optimal position-pose solution of the robot carries the relevant equipment to locate the end face’s hole of any complex blade is automatically solved. The experimental results showed that the method of controlling the tool central point of the drill to locate the given position, the error was less than 1 mm, which was better than the 1.5 mm of the traditional method. The linear direction of the drill was highly perpendicular to the plane of the target drilling position, which met the operational requirement of the workpiece.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Jianxin, C.: Current situation and future of industrial robot application. Sci. Technol. Commun. 5(02), 212–213 (2013)
Zai, L., Hongnan, Z., et al.: Reference hole detection and positioning method based on line laser scanning. Chin. J. Instrum. 42(12), 184–190 (2021)
Yao, G.: Simulation of industrial robot pickup technology based on visual guidance. Mech. Eng. Autom. (06), 37–39+42 (2020)
Shi, X., Le, T., et al.: Intelligent positioning and drilling technology of aviation radiator based on machine vision. Measur. Control Technol. 39(08), 129–133 (2020)
Shi, J.: Research on automatic positioning of open-air down the hole drill. Changsha: Central South University (2015)
Jiang, H., Liu, S., et al.: Inverse kinematics analysis of six degrees of freedom modular manipulator. J. Zhejiang Univ. (Eng. Ed.) 44(07), 1348–1354 (2010)
Xianhua, L., Yongcun, G., et al.: Inverse kinematics solution and verification of modular 6-DOF manipulator. J. Agric. Mach. 44(04), 246–251 (2013)
Yao, H., Liu W., et al.: Research on drilling positioning method of rock drilling robot with improved configuration. China Mech. Eng. 31(18): 2254–2261+2267 (2020)
Liu, G., Meng, S., et al. Inverse solution algorithm and error analysis of 6R modular robot. Mech. Des. Manuf. (2021)
Caidong, W., Zhihang, L., et al.: Robot TCP self-calibration method is based on the hand-eye relationship. Mach. Tools Hydraulics 47(17), 6–11 (2019)
Acknowledgement
This research is partially supported by the National Natural Science Foundation of China (Grant Nos. 62176149 and 51975344).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2022 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Kaiwei, Z., Dawei, T., Ben, S., Xu, Z. (2022). Adaptive Method of Position-Pose for the Robot to Locate the End face’s Hole of the Blade. In: Liu, H., et al. Intelligent Robotics and Applications. ICIRA 2022. Lecture Notes in Computer Science(), vol 13455. Springer, Cham. https://doi.org/10.1007/978-3-031-13844-7_26
Download citation
DOI: https://doi.org/10.1007/978-3-031-13844-7_26
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-13843-0
Online ISBN: 978-3-031-13844-7
eBook Packages: Computer ScienceComputer Science (R0)