摘要
为促进航空航天领域机器人自动钻孔技术的研究,本文介绍了国内外在该领域的研究进展,概述与总结了机器人钻孔离线编程、终端执行器、系统误差补偿等关键技术所包涵的核心思想及算法,梳理了研究中存在的问题和可能的解决方案,探讨了各关键技术对机器人自动钻孔系统产生的影响,最后在总结研究成果与分析的基础上对各关键技术的发展方向做出了展望。
This paper introduces the research progress of this theme at home and abroad,summarizes the core ideas and algorithms of offline programming,end effector,system error compensation,and other key technologies in robotic drilling technology,and combs through the existing problems and possible solutions in previous researches to promote the research on robotic drilling technology in the field of aerospace.Also,the paper discusses the impact of each key technology on the robotic drilling system and gives corresponding prospects on the basis of summarizing and analyzing research results.
作者
付鹏强
苗宇航
王义文
姜晓灿
许成阳
刘立佳
周丽杰
FU Pengqiang;MIAO Yuhang;WANG Yiwen;JIANG Xiaocan;XU Chengyang;LIU Lijia;ZHOU Lijie(School of Mechanical and Power Engineering,Harbin University of Science and Technology,Harbin 150080,China;Key Laboratory of Advanced Manufacturing and Intelligent Technology,Ministry of Education,Harbin University of Science and Technology,Harbin 150080,China;College of Aerospace Engineering,Shenyang Aerospace University,Shenyang 110136,China;School of Automation,Harbin University of Science and Technology,Harbin 150080,China)
出处
《智能系统学报》
CSCD
北大核心
2022年第5期874-885,共12页
CAAI Transactions on Intelligent Systems
基金
国家自然科学基金项目(51475127)
黑龙江省自然科学基金项目(QC2018064
JJ2022LH0716)
普通高等学校创新人才培养计划(UNPYSCT-2018196)。
关键词
离线编程
终端执行器
系统误差补偿
自动钻孔系统
机器人
钻孔路径规划
冗余度求解
压脚压紧力反馈
法向监测
offline programming
end effector
system error compensation
automatic drilling system
robot
drilling path planning
redundancy solution
presser-foot device pressure-force feedback
normal monitoring
