Visual sensor-guided robotic adaptive assembly of aero aluminum alloy tube

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• 作者：Zongyu Zhang ; Haichao Li ; Qinglin Han…
• 关键词：Aero tube ; Ellipse eccentricity ; Model ; Efficiency ; Laser vision system ; Robotic assembly
• 刊名：The International Journal of Advanced Manufacturing Technology
• 出版年：2015
• 出版时间：June 2015
• 年：2015
• 卷：78
• 期：9-12
• 页码：2057-2068
• 全文大小：1,547 KB
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• 作者单位：Zongyu Zhang (1)
  Haichao Li (1)
  Qinglin Han (1)
  Hongming Gao (1)
  
  1. State Key Laboratory of Advanced Welding and Joining, Harbin Institute of Technology, West Straight Street 92, Harbin, 150001, People’s Republic of China
  
• 刊物类别：Engineering
• 刊物主题：Industrial and Production Engineering
  Production and Logistics
  Mechanical Engineering
  Computer-Aided Engineering and Design
  
• 出版者：Springer London
• ISSN：1433-3015

文摘

The application of robotics to the assembly of aero aluminum alloy tube has been limited by the inconsistency of the shape involved and the efficiency required. The simple “pick and place-approaches cannot be used due to the dimensional error resulting from digital bending process. The problem we seek to solve in this research is the accomplishment of robotic assembly efficiently by using a non-contact sensing system. The laser stripe data obtained can be processed through a mathematical fitting to calculate the eccentricity of ellipse in response to the posture of aero tube or flange. A mathematical model between the eccentricity of ellipse and the posture of aero tube or flange is presented, which makes it possible to predict the efficiency of assembly. Then, adjustment strategy is proposed in detail based on the model acquired. A series of experiments is carried out to validate the effectiveness of the method proposed. Results are presented along with a discussion of the problems that may be encountered during robotic assembly. The experimental results are well conducted to verify that robots combining with a visual sensor can be used to the assembly of aero tube and flange concisely and efficiently.