基于迭代算法的复杂曲面零件三坐标测量快速精确定位方法
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摘要
针对复杂曲面零件在三坐标测量过程中存在着定位难、定位精度低的问题,基于改进的迭代最近点算法,提出了考虑半径补偿的预定位与精定位的多级定位算法;并通过建立定位点几何误差与叶片定位精度的数学关系模型,结合贪婪算法与六点原则,给出了近优的定位点序列生成方法。结合定位算法与定位点序列,给出了复杂曲面零件定位迭代流程,并开发了三坐标测量定位系统。以涡轮叶片为例,通过的定位仿真和定位实验,结果表明:该系统只需测量12~18个点即可使得叶片定位误差在0.1mm以内,证明该系统能有效的提高复杂曲面零件的定位精度和效率。
The blade is a typical part with sculptured surfaces,the locating of these parts for measurement with coordinate measuring machines(CMM)is a difficult and time-consuming task because there are no locating datum planes.To solve this problem,a multistage location algorithm including pre-location and fine-location,considering radius comprehension,was proposed based on iterative closest point algorithm.By establishing the relationship of locating errors and geometric errors of locating points,a near-optimal locating point sequence was generated using the greedy algorithm and six-point principle.Combining multi-stage location algorithm and locating point sequence,an iterative locating process for the part with sculptured surfacesmeasurement with CMM was researched and programmed.In the simulation and experiment of localizing a turbine blade with sculptured surfaces,only 12-18 points were need to maintain the location errors with in 0.1 mm.The efficiency and accuracy of this method are desirable.
The blade is a typical part with sculptured surfaces,the locating of these parts for measurement with coordinate measuring machines(CMM)is a difficult and time-consuming task because there are no locating datum planes.To solve this problem,a multistage location algorithm including pre-location and fine-location,considering radius comprehension,was proposed based on iterative closest point algorithm.By establishing the relationship of locating errors and geometric errors of locating points,a near-optimal locating point sequence was generated using the greedy algorithm and six-point principle.Combining multi-stage location algorithm and locating point sequence,an iterative locating process for the part with sculptured surfacesmeasurement with CMM was researched and programmed.In the simulation and experiment of localizing a turbine blade with sculptured surfaces,only 12-18 points were need to maintain the location errors with in 0.1 mm.The efficiency and accuracy of this method are desirable.
引文
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[2]李华伟,申作春,覃银红,等.相位测量轮廓术应用于叶片测量[J].航空动力学报,2012,27(2):275-281.LIN Huawei,SHEN Zuochun,QIN Yinhong,et al.Application of phase-measurement-profilometry in blade measurement[J].Journal of Aerospace Power,2012,27(2):275-281.(in Chinese)
[3]DONG Yiwei,LI Xiaoji,ZHAO Qing,et al.Modeling of shrinkage during investment casting of thin-walled hollow turbine blades[J].Journal of Materials Processing Technology,2017,244:190-203.
[4]XIONG Z H,WANG M Y,LI Z X.A near-optimal probing strategy for workpiece localization[J].IEEE Transactions on Robotics,2004,20(4):668-676.
[5]LI Zexiang,GOU Jianbo,CHU Yunxian.Geometric algorithms for workpiece localization[J].IEEE Transactions on Robotics and Automation,1998,14(6):864-878.
[6]GUNNARSSON K,PRINZ F B.CAD model-based localization of parts in manufacturing[J].Computer,1987,20(8):66-74.
[7]MENQ C H,YAU H,LAI G.Automated precision measurement of surface profile in CAD-directed inspection[J].IEEE Transactions on Robotics and Automation,1992,8(2):268-278.
[8]HONG J,TAN X.Method and apparatus for dtemining position and orientation of mechanical objects:US5208762[P].1993-05-04.
[9]BESL P J,MEKAY N D.A method for registration of 3-D shapes[J].IEEE Transactions on Pattern Analysis and Machine Intelligence,1992,14(2):239-256.
[10]禹永萍,韩燮.基于遗传算法的ICP技术研究[J].电子测试,2010(6):27-31.YU Yongping,HAN Xie.Research of the registration combining ICP and genetic algorithm[J].Electronic Test,2010(6):27-31.(in Chinese)
[11]沈晋慧.遗传算法在医学图像配准技术中的应用[J].首都医科大学学报,2003,24(1):30-32.SHEN Jinhui.Application of genetic algorithm in medical image registration[J].Journal of Capital University of Medial Sciences,2003,24(1):30-32.(in Chinese)
[12]LOMONOSOV E,CHETVERIKOV D,EKART A.Preregistration of arbitrarily oriented 3Dsurfaces using agenetic algorithm[J].Pattern Recognition Letters,2006,27(11):1201-1208.
[13]PRAMANIK J,DALAI S,RANA D.Image registration using PSO and APSO:a comparative analysis[J].International Journal of Computer Applications,2015,116(21):6-11.
[14]GE Yuqin,WANG Baoyun,NIE Jianhui,et al.A point cloud registration method combining enhanced particle swarm optimization and iterative closest point method[C]∥Proceedings of the Control and Decision Conference(CCDC),Yinchuan Ningxia:IEEE,2016:2810-2815.
[15]CHOY C B,STARK M,CORBETTDA VIES S,et al.Enriching object detection with 2D-3Dregistration and continuous viewpoint estimation[J].Computer Vision and Pattern Recognition,2015,86(12):2512-2520.
[16]KO K H,MAEKAWA T,PATRIKALAKIS N M.An algorithm for optimal free-form object matching[J].Computer-Aided Design,2003,35(10):913-923.
[17]BOUKEBBAB S,BOUCHENITFA H,BOUGHOUAS H,et al.Applied iterative closest point algorithm to automated inspection of gear box tooth[J].Computers and Industrial Engineering,2007,52(1):162-173.
[18]MEHRAD V,XUE D Y,GU P H.Inspection of freeform surfaces considering uncertainties in measurement,localization and surface reconstruction[J].Measurement Science and Technology,2013,24(8):50-61.
[19]TAN G,ZHANG L,LIU S,et al.A fast and differentiated localization method for complex surfaces inspection[J].International Journal of Precision Engineering and Manufacturing,2015,16(13):2631-2639.
[20]刘晶.叶片数字化检测中的模型配准技术及应用[D].西安:西北工业大学,2006.LIU Jing.Research on model registration method and its application in digital measurement[D].Xi'an:Northwestern Polytechnical University,2006.(in Chinese)
[21]MEHRAD V,XUE D Y,GU P H.Robust localization to align measured points on the manufactured surface with design surface for freeform surface inspection[J].Computer-Aided Design,2014,53:90-103.
[22]JIANG R,WANG W,ZHANG D,et al.Wall thickness monitoring method for wax pattern of hollow turbine blade[J].International Journal of Advanced Manufacturing Technology,2016,83(5):949-960.
[23]朱利民,罗红根,丁汉.测量定位误差度量与测点布局规划[J].中国科学E辑:工程科学材料科学,2004,34(11):1271-1282.ZHU Limin,LUO Honggen,DING Han.Measurement location error evaluation and measurement points layout plan[J].Science in China Ser.E:Engineering and Materials Science,2004,34(11):1271-1282.(in Chinese)