中文摘要：

介绍了＂光束运动-光靶跟踪＂激光跟踪测量方法,研究了激光制导测量机器人技术,开发并研制了一种能够在被测对象水平面和斜面运动的小型轮臂复合式激光制导测量机器人系统。建立了机器人的爬行臂式运动学模型并对其运动特性进行了分析。最后,利用激光跟踪仪和三坐标测量机对激光制导测量机器人样机进行了性能测试,实验结果表明：该机器人能够自动高效地跟踪激光束并完成测量,验证了运动学分析的正确性,同时也解决了激光制导测量机器人技术中光靶的掉光问题。

英文摘要：

A new laser tracking measurement theory of＂laser beam moving and SMR tracking＂ is proposed.A miniature wheel-armed Laser Guidance Measuring Robot（LGMR） system is developed based on this theory which can move on the horizontal and bevel surface of measured part.The armed-mechanism kinematics mode of LGMR is established,and the motion characteristics of LGMR are analyzed.Finally,the laser tracker and CMM are used to test the performance of LGMR,the experiment results show that the LGMR can automatically and effectively track laser beam and measure the workpiece.It solves the problem that laser beam is lost.