为了解决不同型号薄壁类旋转曲面工件在壁厚自动化测量过程中，测量点位置姿态难以确定及测量效率的问题，提出了一种基于多自由度机械臂的旋转曲面工件壁厚自动测量方法。首先，利用激光位移传感器对工件进行扫描，完成工件特征曲线的重构；然后，对得到的特征曲线进行自适应布点，计算出所需厚度测量点的位置。机器人带动末端测厚探头最终实现了自由旋转曲面工件的自动化壁厚测量。

In the process of automatic wall thickness measurement, it is difficult to ascertain the position and posture of measuring points in thin-walled rotary parts. In order to solve the problem and improve measurement efficiency, an automatic measurement method on wall thickness of rotary workpiece is proposed based on the multi-degree-of-freedom manipulator. The characteristic curve is reconstructed using the data measured by Laser Displacement Sensor. The position of measuring points is obtained by the adaptive placement strategy of characteristic curve. Automatic thickness measurement by robot is realized.