大尺度产品数字化智能对接关键技术研究
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摘要
针对大尺度产品对接过程精确位姿调整困难的问题,以测量辅助装配相关研究内容为基础,提出了一种大尺度产品数字化智能对接技术应用综合框架,并从基础环境、使能技术和组织模式三个层面对该框架进行了分析。给出了三种大尺度产品数字化智能对接应用模式,并对其特性进行对比分析。分析了基准传递与精度协调、位姿感知与评定、调姿路径规划、多源数据融合与集成控制等关键技术。设计开发了基于全局坐标的位姿引导柔性装配和六维力引导柔顺对接的组合试验装置,并以舱段对接为例,验证了应用综合框架与关键技术的可行性与有效性。
To solve the adjustment difficulties of accurate Position and Orientation(P&O)during the alignment process of large-scale components,a comprehensive application framework for digital intelligent alignment technology of large-scale components was put forward,and the enabling technologies,the basic environments and the organizational models were analyzed.According to this framework,three application modes were proposed,and their characteristics were analyzed.Besides,key technologies such as datum transferring and error coordination,P&O perception and evaluation,P&O adjustment path planning and multi-source data fusion and integrated control were researched.Experimental apparatus for P&O-guided flexible assembly based on global coordinates and six-dimensional force-guided compliant alignment were self-designed and developed.The alignment of cabin components was taken as an example,whose experimental results demonstrated the feasibility and validity of the comprehensive framework of technology applications and key technologies.
To solve the adjustment difficulties of accurate Position and Orientation(P&O)during the alignment process of large-scale components,a comprehensive application framework for digital intelligent alignment technology of large-scale components was put forward,and the enabling technologies,the basic environments and the organizational models were analyzed.According to this framework,three application modes were proposed,and their characteristics were analyzed.Besides,key technologies such as datum transferring and error coordination,P&O perception and evaluation,P&O adjustment path planning and multi-source data fusion and integrated control were researched.Experimental apparatus for P&O-guided flexible assembly based on global coordinates and six-dimensional force-guided compliant alignment were self-designed and developed.The alignment of cabin components was taken as an example,whose experimental results demonstrated the feasibility and validity of the comprehensive framework of technology applications and key technologies.
引文
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[18]HUANG Peng,WANG Qing,LI Jiangxiong,et al.Adjustment optimal trajectory planning of aircraft component based on dynamics model[J].Acta aeronautica et Astronautica Sinica,2014,35(9):2672-2682(in Chinese).[黄鹏,王青,李江雄,等.基于动力学模型的飞机大部件调姿轨迹规划[J].航空学报,2014,35(9):2672-2682.]
[19]MAROPOULOS P G,GUO Y,JAMSHIDI J,et al.Large volume metrology process models:a framework for integrating measurement with assembly planning[J].CIRP AnnalsManufacturing Technology,2008,57(1):477-480.
[20]KILIKEVICIUS S,BAKSYS B.Dynamic analysis of vibratory insertion process[J].Assembly Automation,2011,31(3):275-283.
[21]KIM Y L,SONG H C,SONG J B.Hole detection algorithm for chamferless square peg-in-hole based on shape recognition using F/T sensor[J].International Journal of Precision Engineering and Manufacturing,2014,15(3):425-432.
[22]SHU Jianhua,QIAO Hong,QU Zhicai,et al.Sensor-less insertion strategy for an eccentric peg in a hole of the crankshaft and bearing assembly[J].Assembly Automation,2012,32(1):86-99.
[23]GILLI M,LUMIA R,PASTORELLI S.Precision robotic assembly using attractive regions[J].International Journal of Recent Advances in Mechanical Engineering,2014,3(3):109-128.
[24]DU Fuzhou,WU Pu.Quality evaluation method for aircraft large components joining based on position and orientation measurement uncertainty[J].Journal of Beijing University of Aeronautics and Astronautics,2013,39(1):73-77(in Chinese).[杜福洲,吴璞.基于位姿测量不确定度的飞机对接质量评估[J].北京航空航天大学学报,2013,39(1):73-77.]
[2]MUELANER J E,KAYANI A,MARTIN O,et al.Measurement assisted assembly and the roadmap to part-to-part assembly[C]//Proceeding of the 7th International Conference on Digital Enterprise Technology.Bath,USA:University of Bath,2011:11-19.
[3]YI Wangmin,DUAN Biwen,GAO Feng,et al.Level docking technology in large cabin assembly[J].Computer Intergraded Manufacturing Systems,2015,21(9):2354-2359(in Chinese).[易旺民,段碧文,高峰,等.大型舱段装配中的水平对接技术[J].计算机集成制造系统,2015,21(9):2354-2359.]
[4]QIU Baogui,JIANG Junxia,BI Yunbo,et al.Study on posture alignment and joining test system for large aircraft fuselages[J].Acta Aeronautica ET Astronautica Sinica,2011,32(5):908-919(in Chinese).[邱宝贵,蒋君侠,毕运波,等.大型飞机机身调姿与对接试验系统研究[J].航空学报,2011,32(5):908-919.]
[5]MEI Zhongyi,MAROPOULOS P G.Review of the application of flexible,measurement-assisted assembly technology in aircraft manufacturing[J].Proceedings of IMech E,Part B:Journal of Engineering Manufacture,2014,228(10):1-13.
[6]XIONG Tao.Automatic docking technology of satellite[J].Aeronautical Manufacturing Technology,2011(22):36-39(in Chinese).[熊涛.卫星自动对接技术研究[J].航空制造技术,2011(22):36-39.]
[7]LI Tian,HU Xiaoxue,YAO Wei,et al.Research on application of robot in space equipment automatic assembly[J].Aeronautical Manufacturing Technology,2014(21):102-108(in Chinese).[黎田,胡晓雪,姚为,等.机器人在航天装备自动化装配中的应用研究[J].航空制造技术,2014(21):102-108.]
[8]CHEN Zhehan,DU Fuzhou,TANG Xiaoqing.Research on uncertainty in measurement assisted alignment in aircraft assembly[J].Chinese Journal of Aeronautics,2013,26(6):1568-1576.
[9]GUO Chongying,LIU Jianhua,TANG Chongtong,et al.Automatic generation technology of assembly dimension chain based on graph theory[J].Computer Intergraded Manufacturing Systems,2014,20(12):2980-2990(in Chinese).[郭崇颖,刘检华,唐承统,等.基于图论的装配尺寸链自动生成技术[J].计算机集成制造系统,2014,20(12):2980-2990.]
[10]LIU Weidong,NING Ruxin,LIU Jianhua,et al.Mechanism analysis of deviation sourcing and propagation for mechanical assembly[J].Journal of Mechanical Engineering,2012,48(1):156-168(in Chinese).[刘伟东,宁汝新,刘检华,等.机械装配偏差源及其偏差传递机理分析[J].机械工程学报,2012,48(1):156-168.]
[11]CHEN Zhehan,DU Fuzhou,TANG Xiaoqing.Key measurement characteristics based inspection data modeling for aircraft assembly[J].Acta aeronautica et Astronautica Sinica,2012,33(11):2143-2152(in Chinese).[陈哲涵,杜福洲,唐晓青.基于关键测量特性的飞机装配检测数据建模研究[J].航空学报,2012,33(11):2143-2152.]
[12]WANG Qing,ZISSLER N,HOLDEN R.Evaluate error sources and uncertainty in large scale measurement systems[J].Robotics and Computer-integrated Manufacturing,2013,29(1):1-11.
[13]DU Fuzhou,CHEN Zhehan,TANG Xiaoqing.Precision analysis of iGPS measurement field and its application[J].Acta aeronautica et Astronautica Sinica,2012,33(9):1737-1745(in Chinese).[杜福洲,陈哲涵,唐晓青.iGPS测量场精度分析及应用研究[J].航空学报,2012,33(9):1737-1745.]
[14]LIU Shenglan,LUO Zhiguang,TAN Gaoshan,et al.3D Measurement and quality evaluation for complex aircraft assemblies[J].Acta aeronautica et Astronautica Sinica,2013,34(2):409-418(in Chinese).[刘胜兰,罗志光,谭高山,等.飞机复杂装配部件三维数字化综合测量与评估方法[J].航空学报,2013,34(2):409-418.]
[15]LUO Fang,ZOU Fang,ZHOU Wanyong.Posture calculating algorithm in large aircraft component butt[J].Aeronautical Manufacturing Technology,2011(3):91-94(in Chinese).[罗芳,邹方,周万勇.飞机大部件对接中得位姿计算方法[J].航空制造技术,2011(3):91-94.]
[16]ZHU Yongguo,HUANG Xiang,SONG Likang,et al.Polynomial trajectory method based on ideal drive forces for aircraft fuselage pose adjustment[J].Computer Intergraded Manufacturing Systems,2015,21(7):1790-1796(in Chinese).[朱永国,黄翔,宋利康,等.基于理想驱动力的中机身调姿多项式轨迹规划[J].计算机集成制造系统,2015,21(7):1790-1796.]
[17]ZHANG Hongshuang,WANG Qing,KE Yinglin,et al.Supporting point optimal selection of big part based on parallel mechanism align-positioning[J].Computer Intergraded Manufacturing Systems,2014,20(10):2419-2425(in Chinese).[张洪双,王青,柯映林,等.基于并联机构调姿的大部件支撑点优选[J].计算机集成制造系统,2014,20(10):2419-2425.]
[18]HUANG Peng,WANG Qing,LI Jiangxiong,et al.Adjustment optimal trajectory planning of aircraft component based on dynamics model[J].Acta aeronautica et Astronautica Sinica,2014,35(9):2672-2682(in Chinese).[黄鹏,王青,李江雄,等.基于动力学模型的飞机大部件调姿轨迹规划[J].航空学报,2014,35(9):2672-2682.]
[19]MAROPOULOS P G,GUO Y,JAMSHIDI J,et al.Large volume metrology process models:a framework for integrating measurement with assembly planning[J].CIRP AnnalsManufacturing Technology,2008,57(1):477-480.
[20]KILIKEVICIUS S,BAKSYS B.Dynamic analysis of vibratory insertion process[J].Assembly Automation,2011,31(3):275-283.
[21]KIM Y L,SONG H C,SONG J B.Hole detection algorithm for chamferless square peg-in-hole based on shape recognition using F/T sensor[J].International Journal of Precision Engineering and Manufacturing,2014,15(3):425-432.
[22]SHU Jianhua,QIAO Hong,QU Zhicai,et al.Sensor-less insertion strategy for an eccentric peg in a hole of the crankshaft and bearing assembly[J].Assembly Automation,2012,32(1):86-99.
[23]GILLI M,LUMIA R,PASTORELLI S.Precision robotic assembly using attractive regions[J].International Journal of Recent Advances in Mechanical Engineering,2014,3(3):109-128.
[24]DU Fuzhou,WU Pu.Quality evaluation method for aircraft large components joining based on position and orientation measurement uncertainty[J].Journal of Beijing University of Aeronautics and Astronautics,2013,39(1):73-77(in Chinese).[杜福洲,吴璞.基于位姿测量不确定度的飞机对接质量评估[J].北京航空航天大学学报,2013,39(1):73-77.]