dynamic scanning, trajectory planning, industrial robotics, position transformation adjustment, six-degree-of-freedom platform, Motor vehicles. Aeronautics. Astronautics, TL1-4050

The aim of manufacturing large aerospace parts for the three-dimensional scanning field demands high precision and efficiency. However, it may be more challenging to meet the full coverage of the measurement problems for large aerospace parts with the scanning range of traditional three-dimensional scanning methods. This paper establishes a dynamic posturing scanning measurement system for large aerospace parts with a six-degree-of-freedom posturing platform and a six-degree-of-freedom industrial robot linkage. It establishes a mathematical model of dynamic three-dimensional scanning posturing. It proposes a platform attitude adjustment strategy based on the field of view angle of a 3D scanner during the adjustment of a six-degree-of-freedom platform. The dynamic scanning path planning is carried out using the three-dimensional spatial decomposition method, and the vector coordinates of the critical points at the edges of the missing areas of the scan are used to re-scan the missing areas to establish the dynamic scanning paths of large aerospace parts. It is experimentally verified that the system can realize the dynamic scanning of complex curved large aerospace parts. The experimental results show that the measurement efficiency is improved by more than 75%, and the point cloud coverage of the scanning reconstruction is improved by 18% for large aerospace components with complex surfaces.