DOI：10.3969/j.issn.1672-3872.2023.10.046
基金项目：2021年度山西大同大学科研专项课题（2021YGZX53）
作者：王舒玮，郭计云，盛彬（山西大同大学机电工程学院，山西 大同 037000）
摘 要：【目的】目前现有的关于云冈石窟的修复技术均仅局限于在3D打印技术的基础上通过三维激光扫描对主要的大型石窟进行数字化仿真修复，无法覆盖全部的修复工作。还有很多高度较高、处于狭小空间中、风化较为严重、人工采集数据困难、无法通过人工操作实现修复的小型石窟石雕。必须寻求一种可靠的、精度较高的、操作简单的、成本较低的修复方法来解决这一难题。【方法】课题组提出了将基于虚拟仿真技术的机械手运用至修复工作中的建议。首先，设计可以在狭小空间使用的机械手臂和配套的微型三维激光扫描仪器；其次，运用3D打印技术实现对石窟石雕破损部分的仿真，并运用SolidWorks软件对石雕进行三维建模；再次，根据仿真建模修复的石窟石雕判断该设计方案的实际可行性，并进一步修改完善设计方案；最后，将设计投入实际修复工作中。【结果】该设计具有选题新颖、创新性强等众多优势，设计的机械手通用性好，不仅可以填补人工无法完成对云冈石窟内某些小型石窟修复的空白，还可用于其他同类操作中；可降低修复成本，缩短修复周期，为整个云冈石窟的修复工作提供了新思路、新方法。
关键词：云冈石窟；破损修复；机械手
Abstract: [Objective] Currently, the existing repair technologies for Yungang Grottoes are limited to the digital simulation repair of major large grottoes using 3D laser scanning based on 3D printing technology, and cannot cover all the repair work. There are also many small cave stone carvings that are high in height, located in narrow spaces, severely weathered, difficult to collect data manually, and cannot be repaired through manual operations. We must seek a reliable, high-precision, simple to operate, and lowcost repair method to solve this problem. [Method] The research group proposed to apply the robot based on virtual simulation technology to the repair work. Firstly, design a robotic arm that can be used in a narrow space and a matching miniature three-dimensional laser scanning instrument. Secondly, using 3D printing technology to simulate the damaged part of the grotto stone carving, and using SolidWorks software to conduct 3D modeling of the stone carving. Thirdly, judge the practical feasibility of the design scheme based on the simulation modeling and repair of the grotto stone carvings, and further modify and improve the design scheme. Finally, the design is put into actual repair work. [Result] The design has many advantages such as novel topic selection and strong innovation. The designed manipulator has good versatility, which can not only fill the gap that manual work cannot complete the repair of some small grottoes in Yungang Grottoes, but also be used in other similar operations. It can reduce the repair cost and shorten the repair cycle, providing new ideas and methods for the repair work of the entire Yungang Grottoes.
Keywords: Yungang Grottoes; damage repair; robot
引文信息：[1]王舒玮，郭计云，盛彬.基于虚拟仿真技术的机械手在修复云冈石窟石雕破损中的应用[J].南方农机，2023，54(10)：155-157.
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