The robotic arm combined with contact sensor (probe) is used to move to the desired inspection points in shaft length, internal diameter, verticality, and parallelism following up the designated path planning route. The personal computer (PC) works as a control core, which to perform the mathematical model and control robotic arm movement. Instead of four points needed to find coefficients of a space sphere, only three investigation points are required to achieve the sphere axis coordinates for measurement. To overcome this dilemma, this paper aims to develop a fast high-precision measurement system using robotic arm based on 3D geometry mathematical model. In practice, an entire checking process usually takes more than 30 min to complete. Moreover, the measurement accuracy in the estimated standard deviation and measurement uncertainty using two different bike frames is presented to verify the effectiveness of the proposed model.Ĭurrently, the quality check of bike frame still heavily relies on human operation. The practical model performance also prooves that all crucial quality checking items such as centre plane offset, inside diameter, axis point and parallelism in different rotating shafts of bike frame can be achieved in term of rapid, robustness and precision. Accordingly, the centre coordinate of the check point and its diameter can be calculated accurately and simply. The proposed mathematical geometric model effectively integrates the sphere formula with the inner product of normal vector to find four parameters in the sphere formula using only three measured points. For this reason, this study aims to develop a mathematical model of three‐dimensional geometry especially applied for robotic arm‐based bike frame measurement. In such a mechanism, the measured data is based on the handwritten record, and thus a difficulty may occur in further data analysis using the computer.
This study presents a measurement method for a bike frame to solve a problem that usually relies on the digimatic callipers or mechanical molds handled by a human, therefore avoiding a long time process and measurement errors.
0 kommentar(er)
