摘要
在飞机壁板等复杂曲面的数字化钻铆过程中,为保证沿曲面微元的法向钻铆采用非接触式测量方法,利用多点激光测距的测量结果,计算被测部位的法向,调整安装在工业机器人或其他移动设备上的末端执行器的姿态,使钻铆装置沿被测部位的法向进给。采用平面拟合方法,确定基准平面方程。利用多个测距装置测量的到基准平面的距离,标定测距装置的安装位置、姿态参数。根据多个测距装置测得的到被测部位的距离,计算待钻铆部位的法向。算例表明该曲面法向测量方法正确,可应用于定位、调姿等飞机数字化制造及装配工作。
A method of noncontact laser distance measurement is applied for digital drilling and riveting of complex surface. By means of measurement results from locating devices, the normal direction of measured area is evaluated. The posture of end-effector fi xed on the end of industrial robot is adjusted to feed along the evaluated normal direction. The datum plane for calibration is derived from plane fi tting method. The position and posture of locating devices are calibrated on the basis of the distances between locating devices and datum plane. The normal direction of measured area is derived from the distances measured by locating devices. A numerical example illustrates the correctness of the proposed method. The method can be used for positioning and attitude-adjusting for digital manufacturing and assembly.
出处
《航空制造技术》
2011年第22期108-111,共4页
Aeronautical Manufacturing Technology
关键词
数字化装配
法向测量
测距
拟合
Digital assembly
Normal direction evaluation
Distance measurement
Fitting method
