遠距3D量測機械人的精度改良與應用

Abstract

本文主要目的是針對3D量測機械人的量測精度進行分析與改進，以達到符合人性化、客製化與高精度的逆向工程系統，本研究的分析對象為實驗室自行裝設的3D機械人量測系統(NC_3DRM2006)，利用高精度非接觸式3D線雷射掃描探頭，結合四軸機械手臂進行遠距3D量測的功能，此量測系統擷取物件曲面相關點資料，進行編輯掃描資料，建立3D曲面架構的之模型，當進行資料擷取時，需要對樣品做不同方向和角度的掃瞄，以取得完整的量測點群資料，本研究擬透過不同參數和取樣，分析歸納出的量測參數最佳化，以改進與提高量測點座標的精準度，然後再透過商用軟體的編輯做資料座標定位、整合、平滑化、及資料修整等技術來建構3D立體曲面模型。 本研究所建構的分析方法與軟體系統，可對產品做比對分析和尋求最佳化檢測條件，用所開發系統對量測點資料做座標誤差分析和幾何特徵分析，同時將擷取到的3D曲面架構，與原始設計之CAD模型進行比對，藉以驗證量測的精度，做為量測參數調校的參考，使用此機械人3D量測方法，可增加量測角度與距離的調整彈性，不但能減少產品檢測時間，並可增加產品可靠度和外型確認，進而提高產品之競爭力。 關鍵詞:遠距3D量測機械人，逆向工程，點群曲面，量測精度。

The main purpose of this essay is subjected to discuss how to analyze and improve the measurement accuracy of a Reverse Engineering System so as to be compliant with a system of humanity operation interface, user customized, and high precision. With the system of a sophisticated none-contact laser linear probing head conjoined with a four axes robot arm installed in the NCTU CIDM laboratory, named as NCTU CIDM 3D robot measurement 2006(NC_3DRM2006) Model surface can be measured by a way of internet remote control. The system turns curve surface into numerous dot data. Via editing the dot data scanning from different directions and angles on the object, a 3D curve surface model can be preliminarily construed. In order to elevate and improve the accuracy of dot data, this assay concentrates at analyzing and deducing optimized measurement parameters through an approach of sampling and adjusting measurement conditions. The dot data model can be further modified, coordinate allocated, smoothened, and editing by using commercial software. This essay also creates an analysis approach and software system that can be utilized to seek for an optimized measurement condition by comparison. By means of our system analysis to coordinate and geometry shape discrepancy, and the curve surface in the form of dot group data compared to cad design model, the measurement accuracy can be checked and examined for the reference of adjusting parameters. With the robot arm of this system, users may flexibly increase the number of measuring angles and distances, shorten the measuring time and furthermore elevate model reliability, geometry shape accuracy, and product competitiveness.

Key words: Internet 3D Measurement System, Reversing Engineering, Dot Based Curve Surface, Measurement Accuracy.