Robot automation grinding process for nuclear reactor coolant pump based on reverse engineering

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 工艺装备与智能机器人研究室

	Robot automation grinding process for nuclear reactor coolant pump based on reverse engineering
	Li L(李论)1 ; Zhao JB(赵吉宾)1 ; Zhang HY(张洪瑶)1,2
刊名	International Journal of Advanced Manufacturing Technology
	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)
内容类型	期刊论文
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.