Adaptive Method of Position-Pose for the Robot to Locate the End face’s Hole of the Blade

In order to realize the automatic measurement and positioning drilling of the end face’s hole of the turbine blade, a system of automatic measurement, positioning and drilling is built by using a binocular vision laser scanner, drilling tool, and industrial robot et al., and an adaptive method of position-pose for the robot to locate the end face’s hole of the blade is proposed. In this method, the laser scanning is used to measure the point cloud of the end face of the blade, and the position coordinates and the normal vector of the hole are determined. The drill calibration algorithm and hand-eye calibration algorithm are used to realize the parameterization of the system. Based on the coordinate system transformation principle, through the projection transformation of the normal vector determines the optimal pose of positioning the end face’s hole for the coordinate system of the drill tool central point, and the optimal position-pose solution of the robot carries the relevant equipment to locate the end face’s hole of any complex blade is automatically solved. The experimental results showed that the method of controlling the tool central point of the drill to locate the given position, the error was less than 1 mm, which was better than the 1.5 mm of the traditional method. The linear direction of the drill was highly perpendicular to the plane of the target drilling position, which met the operational requirement of the workpiece.