Abstract
An industry robot and external axle scanning system is designed for medium-sized complex workpiece measurement and reverse engineering. An industry robot, which carries a structured light vision sensor to sample data, serves as main data sampling actuator. A workpiece is fixed on an external axle, and any part of it can be scanned on rotated place. The spatial location relationships of the robot, the structured light vision sensor and the external axle must be calibrated before measuring. The real sampled data can be determined via coordinate transformations. The experimental results demonstrate that the system can scan most of parts of the workpiece in one scan so that data merge can be omitted. Compared with traditional scanning methods, the system is more flexible and efficient. Furthermore, the system is more suitable for the manufacturing site.