Research On Laser 3D Measurement And Positioning System Based On Parallel Mechanism

With the progress of science and technology and the development of industry,there are more and more fields have a large range of three-dimensional space coordinate measurement requirements,such as: large size of the workpiece assembly robot docking,missile launcher loading measurement;Large-scale material volume measurement,mountain earthwork measurement,etc.,so it is necessary to study a separate,large-scale measurement method.Firstly,this paper introduces the working principle and development status of several common three-dimensional space measurement techniques.On the basis of analyzing and summarizing the existing technologies,a laser three-dimensional measurement and positioning system scheme based on parallel mechanism is designed,and the principle and system structure of the scheme are introduced,and the structural design of some parts is completed.Secondly,the position of the 3UPS?UP parallel mechanism is analyzed,the workspace of the mechanism is obtained by using the boundary search method,and the influence of structural parameters on the workspace is analyzed.Based on the error model of parallel mechanism,the influence of laser ranging error and laser point position error on the measurement positioning accuracy are analyzed.Then the hardware design of the system is completed,including the communication circuit based on DSP,the driving circuit of the BLDCM,the sensing circuit,and the communication circuit based on the STM32 master control.On this basis,the design of BLDCM control program,wireless communication program,client program based on QT are completed,and the common digital filtering methods are analyzed and compared.The fuzzy PID controller is studied,and the simulation analysis is carried out with the motor.The improved threshold wavelet denoising algorithm is designed and simulated.Finally,the performance of the laser ranging sensor and the denoising effect of the improved threshold wavelet are analyzed.The installation error of the measuring platform is corrected by the least square method,and the dynamic and static characteristics of the BLDCM are tested.The performance of the system is analyzed experimentally,including measurement accuracy and stability.