SIA OpenIR  > 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
Zhang HY(张洪瑶)1,2; Li L(李论)1; Zhao JB(赵吉宾)1
Department工艺装备与智能机器人研究室
Source PublicationInternational Journal of Advanced Manufacturing Technology
ISSN0268-3768
2019
Volume102Issue:1-4Pages:879-891
Indexed BySCI ; EI
EI Accession number20190206354888
WOS IDWOS:000463670200069
Contribution Rank1
Funding OrganizationNational Natural Science Foundation of China
KeywordAutomation grinding Industrial robot Point data simplification Trajectory planning Quality evaluation
AbstractThe 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.
Language英语
WOS SubjectAutomation & Control Systems ; Engineering, Manufacturing
WOS KeywordSURFACES ; SIMPLIFICATION
WOS Research AreaAutomation & Control Systems ; Engineering
Funding ProjectNational Natural Science Foundation of China[51605475]
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/24042
Collection工艺装备与智能机器人研究室
Corresponding AuthorZhang HY(张洪瑶)
Affiliation1.Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang 110016, China
2.University of Chinese Academy of Sciences, Beijing 100049, China
Recommended Citation
GB/T 7714
Zhang HY,Li L,Zhao JB. 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 Zhang HY,Li L,&Zhao JB.(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 Zhang HY,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.
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