基于工业机器人的复杂曲面件保压侧移控制方法
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摘要
在保压力加载过程中,复杂曲面件在侧向力的作用下产生位姿侧移。为了保证复杂曲面件的位置精度,构建复杂曲面件保压控制系统,借助激光位移传感器和T-Mac激光跟踪系统,测量复杂曲面件的位置并在线补偿误差。通过3个位移传感器测量实际加载点的法矢方向,利用夹角逼近算法搜索获得实际点位,对比理论点位,得到复杂曲面件与机器人的相对位置。根据T-Mac实时反馈机器人的位置,解算获得复杂曲面件的绝对位置,并调整机器人末端实现复杂曲面件的位置修正。试验结果表明,经第3次在线补偿后,复杂曲面件位置精度达到0.1mm,相比原始误差提升了90%。
There would be a lateral displacement caused by the lateral force for complex curved surface structure during the pressure keeping process. A pressure keeping system consisted of laser displacement sensor and T-Mac was built, in order to measure the position of complex curved surface structure and compensate the error on-line. Coordinates of the actual measuring point were calculated based on angle approaching, whose normal direction was measured by three displacement sensors. The relative location to complex curved surface structure from the robot was provided by comparing the coordinates of the actual measuring point with the theoretical point. The position of the robot was given real-time by T-Mac. Then the absolute position of complex curved surface structure was obtained. The position correction of complex curved surface structure was realized by adjusting the robot end. The results of three times of online error compensation experiments show that the position deviation is close to 0.1 mm and is decreased by 90% compares to the original error.
There would be a lateral displacement caused by the lateral force for complex curved surface structure during the pressure keeping process. A pressure keeping system consisted of laser displacement sensor and T-Mac was built, in order to measure the position of complex curved surface structure and compensate the error on-line. Coordinates of the actual measuring point were calculated based on angle approaching, whose normal direction was measured by three displacement sensors. The relative location to complex curved surface structure from the robot was provided by comparing the coordinates of the actual measuring point with the theoretical point. The position of the robot was given real-time by T-Mac. Then the absolute position of complex curved surface structure was obtained. The position correction of complex curved surface structure was realized by adjusting the robot end. The results of three times of online error compensation experiments show that the position deviation is close to 0.1 mm and is decreased by 90% compares to the original error.
引文
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[8]ALBIN S.Laser feedback control for robotics in aircraft assembly[D].Sweden:Linkoping University,2003.
[9]薛汉杰,张敬佩.蒙皮类部件钻孔法向的测量和调整[J].航空制造技术,2010,53(23):60–62,66.XUE Hanjie,ZHANG Jingpei.Normal measurement and adjustment for skin drilling[J].Aeronautical Manufacturing Technology,2010,53(23):60–62,66.
[10]公茂震,袁培江,王田苗,等.航空制孔机器人末端垂直度智能调节方法[J].北京航空航天大学学报,2012,38(10):1400–1404.GONG Maozhen,YUAN Peijiang,WANG Tianmiao,et al.Intelligent verticality-adjustment method of end–effector in aeronautical drilling robot[J].Journal of Beijing University of Aeronautics and Astronautics,2012,38(10):1400–1404.
[11]应高明,王仲奇,康永刚,等.飞机壁板自动钻铆法向量测量方法研究[J].机床与液压,2010(23):1–4,8.YING Gaoming,WANG Zhongqi,KANG Yonggang,et al.Study on normal vector measurement method in auto-drilling&riveting of aircraft panel[J].Machinetool&Hydraulics,2010(23):1–4,8.