Robot automation grinding process for nuclear reactor coolant pump based on reverse engineering
文献类型：期刊论文
| 作者 | Li L(李论)1 ; Zhao JB(赵吉宾)1; Zhang HY(张洪瑶)1,2
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| 刊名 | International Journal of Advanced Manufacturing Technology
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| 出版日期 | 2019 |
| 卷号 | 102期号:1-4页码:879-891 |
| 关键词 | Automation grinding Industrial robot Point data simplification Trajectory planning Quality evaluation |
| ISSN号 | 0268-3768 |
| 产权排序 | 1 |
| 英文摘要 | The nuclear reactor coolant pump (NRCP) is the heart of the nuclear power plant. This paper focuses on robot automation grinding processing for NRCP, which includes scanning, point cloud processing, grinding trajectory generation, and quality evaluation system based on reverse engineering. In this work, firstly, the point cloud of NRCP is obtained by robotic scanner system of hand-eye calibration. Secondly, the research proposes a novel method for point cloud simplification, denoising, and boundary extraction base on k neighborhood octree structure. More important, the efficient trajectory generation of grinding relies on transforming point cloud into adaptive triangular mesh. Lastly, quality evaluation system can calculate the deviation between point cloud and qualified workpiece. And the further path is generated according to the deviation. Experiments show that the accuracy of “246” hand-eye calibration method is less than 0.02 mm. The method of point cloud processing has obvious efficiency advantages over other researchers’ algorithms. The final results indicate that the error of grinding is less than 3 mm and efficiency can be improved by 2.5 times compared with manual grinding. © 2019, Springer-Verlag London Ltd., part of Springer Nature. |
| 语种 | 英语 |
| WOS记录号 | WOS:000463670200069 |
| 资助机构 | National Natural Science Foundation of China (grant # 51775542) ; National Natural Science Foundation of China (grants # 51605475) |
| 源URL | [http://ir.sia.cn/handle/173321/24042]  |
| 专题 | 工艺装备与智能机器人研究室 |
| 通讯作者 | Zhang HY(张洪瑶) |
| 作者单位 | 1.Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang 110016, China 2.University of Chinese Academy of Sciences, Beijing 100049, China |
| 推荐引用方式 GB/T 7714 | Li L,Zhao JB,Zhang HY. Robot automation grinding process for nuclear reactor coolant pump based on reverse engineering[J]. International Journal of Advanced Manufacturing Technology,2019,102(1-4):879-891. |
| APA | Li L,Zhao JB,&Zhang HY.(2019).Robot automation grinding process for nuclear reactor coolant pump based on reverse engineering.International Journal of Advanced Manufacturing Technology,102(1-4),879-891. |
| MLA | Li L,et al."Robot automation grinding process for nuclear reactor coolant pump based on reverse engineering".International Journal of Advanced Manufacturing Technology 102.1-4(2019):879-891. |
入库方式： OAI收割
来源：沈阳自动化研究所
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