轮式移动机器人对航空大部件进行批量钻铆时的末端定位研究

Research on End Positioning for Wheeled Mobile Robot in Aviation Drilling

移动工业机器人随着航空航天制造业对柔性加工装备的需求而进入航空工业领域。轮式移动机器人受自身易受环境影响、移动精度低等缺陷,在这个领域中的应用还面临着许多亟待解决的问题。介绍了一种面向大飞机和火箭蒙皮加工的轮式移动钻铆机器人,设计了一套能够自动在多个生产单元之间对同一型号产品进行批量加工的方案,建立了柔性自动钻铆的坐标系系统模型,并提出了一种3D视觉测量的方法,有效提高了移动机器人末端定位的精度。最后的实验数据和分析表明,采用这种方法的移动钻铆完全符合精度要求。

In this paper,an Omni-directional mobile industrial robot drilling system for aerospace manufacture is introduced.A vision system is applied to enhance the precision of mobile drilling.To increase the flexibility and working volume of the mobile industrial robot,the autonomous mobile drilling scheme is presented.In order to fulfill the requirement for drilling precision in aerospace industry,a vision-based deviation rectification solution is developed.Some experiments have been carried out to compare the influence of different calibration targets on the robot system.