Coordinate Measurement Systems Committee Albuquerque, New Mexico April 13 -17, 2001 Scanners – Robots – Measurement Plans Synergy in Motion Peter Howard Jack Shry Bruce Thomas Joe Calkins Robert Salerno, Ph. D. Scott Sandwith New River Kinematics Metric. Vision Fanuc Robotics
Scanners, Robots, Measurement Plans – Synergy in Motion Motivation Metrology Solution n Lidar Scanner • Target-less Technology Feature based measurements • Ideal for unattended and automatic inspection n n Need to automatically reposition to scan entire object (ex: Car) Metrology software system architecture required to integrate the measurement system, CAD design, and robotic manipulator Measurement Plan capability required to automatically acquire and analyze the data It’s Cool !! August 13 -17 2001 New River Kinematics - Metric. Vision Coordinate Measurement System Committee Albuquerque, New Mexico
Scanners, Robots, Measurement Plans – Synergy in Motion Component 1: Lidar Scanner n n n Simple Automation: Programmable part and tool feature inspections, alignments, reports, initiate programs remotely Accuracy: 65 mm at 10 m Surface/Feature Measurements: • MV 200 requires only 1 pico-watt (10 -12 W) of return signal any surface n n Fast: 1, 000 measurements per second Versatile: Used in varied configurations • Portable independent measurement system • Part of an automated robotic metrology system n Non-contact Target-less Features V No Photogrammetry Dots V No Laser Tracker SMRs V No Retro Reflectors V No Probes V No Contact August 13 -17 2001 New River Kinematics - Metric. Vision Coordinate Measurement System Committee Albuquerque, New Mexico
Scanners, Robots, Measurement Plans – Synergy in Motion Component 2: Robot n n Reliable Robot for handling Long reach • 2. 1 times more with Flip Over Mechanism n n August 13 -17 2001 Variety of layouts A simple motor direct drive mechanism Minimizes the interference area Small/slim wrist allows the robot to operate in a small space New River Kinematics - Metric. Vision Coordinate Measurement System Committee Albuquerque, New Mexico
Scanners, Robots, Measurement Plans – Synergy in Motion Component 3: Integration Software n n n n August 13 -17 2001 Programmable measurement planning with dynamic real time graphical interface Distributed computing capable (realtime multi-task measurement and analysis across multiple computers) Instrument compensation Synchronous Measurement between Instruments (Master-Slave or Synchronous Polled Modes) TCP/IP interfaces to instruments to enable distributed processing Supports remote process control and monitoring. Common instrument user-interface New River Kinematics - Metric. Vision Coordinate Measurement System Committee Albuquerque, New Mexico
Scanners, Robots, Measurement Plans – Synergy in Motion System Integration n n One interface controls and coordinates the system components Extrinsic Calibration through Inline Robot Control Model: • Tool to CLR Frame • Robot Base to WORLD n n n August 13 -17 2001 Integrated graphical automation programming for n systems Distributed computing Remote monitoring and control New River Kinematics - Metric. Vision Coordinate Measurement System Committee Albuquerque, New Mexico
Scanners, Robots, Measurement Plans – Synergy in Motion Adaptive Scanning In Action August 13 -17 2001 New River Kinematics - Metric. Vision Coordinate Measurement System Committee Albuquerque, New Mexico
Scanners, Robots, Measurement Plans – Synergy in Motion Adaptive Scanning: Close-up August 13 -17 2001 New River Kinematics - Metric. Vision Coordinate Measurement System Committee Albuquerque, New Mexico
Scanners, Robots, Measurement Plans – Synergy in Motion Benefits / Applications n n n Increased workspace for metrology equipment by extending visibility Integrates reliable hybrid technologies on a common platform through general object oriented architecture Adaptive Automation improves process reliability • If the system can’t quite see the feature it can be programmed to interactively hunt it down n Custom configurations fit the application • • n Robot moves instrument Robot move the part Adaptive control Etc… Integrated robot performance enhancements (feedback / calibration loop) August 13 -17 2001 New River Kinematics - Metric. Vision Coordinate Measurement System Committee Albuquerque, New Mexico
Scanners, Robots, Measurement Plans – Synergy in Motion System Architecture STEP Model Measurement Plan Lidar Scanner Instrument Interface Integration Software Robot Control Module MS Office. XP Reporting Process Tracking Database August 13 -17 2001 New River Kinematics - Metric. Vision Coordinate Measurement System Committee Albuquerque, New Mexico
Scanners, Robots, Measurement Plans – Synergy in Motion Questions – Future Direction STEP Model Measurement Plan Lidar Scanner Instrument Interface Integration Software Robot Control Module MS Office. XP Reporting Process Tracking Database August 13 -17 2001 New River Kinematics - Metric. Vision Coordinate Measurement System Committee Albuquerque, New Mexico
Скачать презентацию Coordinate Measurement Systems Committee Albuquerque New Mexico April
bb47b785295c11f789613de5ea920f50.ppt