摘要
针对目前雷达系列舱体常温性能测试过程中存在的移载过程占用人工多、姿态模拟精度不高等问题,设计了基于机器人的舱体自动常温性能测试系统,提出一种舱体位姿偏差精确识别与定位方法,进行舱体位姿高精度识别与定位,基于机器人实现舱体自动抓取及姿态模拟。实验结果表明,通过应用机器人代替人工操作,可实现舱体的精准自动抓取及高精度姿态模拟。该研究的成功应用不仅减少了人工占用,也提高了舱体测试自动化程度。
Aiming at the problems that the transfer process takes up too much manpower and the accuracy of attitude simulation is not high in the room temperature performance test of the radar series cabins,this paper designs a robot-based cabin automatic room temperature performance testing system,proposes a cabin position deviation accurate identification and positioning method to carry out high precision cabin position identification and positioning,and realizes cabin automatic grasping and attitude simulation based on robot.The experimental results show that by applying the robot instead of manual operation,the accurate automatic capturing and high-precision attitude simulation of the cabin can be realized.The successful application of this study not only reduces manual occupation but also improves the automation of cabin testing.
作者
赵英杰
晋严尊
刘赛华
ZHAO Ying-jie;JIN Yan-zun;LIU Sai-hua(China Airborne Missile Academy,Luoyang 471009,China)
出处
《组合机床与自动化加工技术》
北大核心
2023年第5期23-26,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家国防科工局基础科研重点项目(JCKY2019205B012)。
关键词
机器人
自动抓取
位姿识别
姿态模拟
robot
automatic grab
attitude recognition
attitude simulation
