工业机器人白车身柔性坐标测量系统优化研究

刘常杰 杨学友 邾继贵 叶声华

（天津大学精密测试技术及仪器国家重点实验室 天津 300072）

摘要：针对汽车白车身柔性在线测量的应用，设计了基于工业机器人柔性坐标测量系统。对系统的工作过程进行了详细描述，对标定原理和现场标定技术进行了研究。实验表明，该系统的测量精度一般，但重复测量精度较高，可达到±0.3mm，能够满足在线监控白车身加工的尺寸变化的精度要求；该系统成本低、测量无死角、柔性好以及标定方法简单，能适应生产线多车型检测的需要。

关键词：白车身；工业机器人；柔性坐标测量

中图分类号：TN247 文献标识码：A 文章编号：1005-0086（2006）02-0207-04

Flexible Coordinate Measurement System Based on Industrial Robot for Car Body-in-White

LIU Changjie，YANG Xueyou，ZHU Jigui，YE Shenghua(www.xing528.com)

（State Key Laboratory of Precision Measuring Techology&Instruments，Tianjin University，Tianjin 300072）

收稿日期：2005-05-15；修订日期：2005-09-21。

基金项目：国家自然科学基金专项资助项目（50327501）；天津市重大科技攻关资助项目（003101311）；天津市应用基础研究计划重点项目（05 YFJ ZJCO1700）。

Abstract：The flexible coordinate measurement system based on industrial robot is designed to meet the needs of flexible online measurement for car body-in-white（BIW）.This measurement system is low cost，with no blind angle and good flexibility.It can measure all types of BIW at one product line.In this paper，the working process，calibration theory and on-field calibration technique ofthe measurement system are described in detail.The calibration technique is simple and easy to car-ry out in the working site.Experiments prove that the absolute precision of the measurement system is moderate，but the repeatability is better than±0.3mm.It can meet the precision need for meas-uring the size change of BIW.

Keywords：body-in-white（BIW） industrial robot flexible coordinate measurement