Calibration method of aircraft automatic drilling and riveting parallel attitude adjusting bracket

An automatic drilling riveting and bracket technology, applied in the direction of self-adaptive control, control/adjustment system, instrument, etc., can solve the problem of low attitude adjustment and positioning accuracy, and meet the requirements of ensuring error identification accuracy and bracket attitude adjustment accuracy , The effect of improving the movement accuracy of the bracket

Inactive Publication Date: 2018-08-24
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0005] The purpose of the present invention is to solve the problem of low attitude adjustment and positioning accuracy of existing brackets,...

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  • Calibration method of aircraft automatic drilling and riveting parallel attitude adjusting bracket
  • Calibration method of aircraft automatic drilling and riveting parallel attitude adjusting bracket
  • Calibration method of aircraft automatic drilling and riveting parallel attitude adjusting bracket

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Embodiment Construction

[0024] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0025] Such as Figure 1-7 shown.

[0026] A calibration method for an aircraft automatic drilling and riveting parallel attitude adjustment bracket, the specific steps are:

[0027] (1) Before calibration, the laser tracker is used to measure the coordinates of the specified points on the bracket, and the actual pose A of the bracket is fitted. For the target pose B, the kinematics inverse solution is used to obtain the position from pose A under the nominal structural parameters. The ideal displacement of each active movement pair in posture B;

[0028] (2) Drive the motion of the active motion pair according to the calculated ideal motion amount of each active motion pair, use the laser tracker to measure the coordinates of the specified point on the bracket, and fit the actual pose C of the bracket;

[0029] (3) Compare the actual pose C...

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Abstract

The invention provides a calibration method of an aircraft automatic drilling and riveting parallel attitude adjusting bracket, and can be used for calibration of the industrial parallel robot. The ideal displacement of each active movement pair is solved by using inverse kinematics under the nominal structural parameters for aiming at the target attitude; the active movement pairs are driven to move according to the solved ideal displacement of each active movement pair; the actual attitude of the bracket is obtained through fitting by measuring the coordinates of the specific point on the bracket through the laser tracker after stop of movement; the actual attitude of the bracket is compared with the target attitude so as to determine the bracket attitude error before calibration; an error model between the bracket attitude error and the structural error and the active movement pair displacement is established by using a space vector chain method, and structural error identificationis performed by using the least square method; and the active movement pair of the bracket are corrected and inverse kinematics is performed again so as to determine the displacement of each active movement pair when reaching the target attitude. The method is simple and high in identification accuracy so that the movement accuracy of the bracket can be enhanced and the requirements of the bracketattitude adjusting accuracy can be met to the greatest extent.

Description

technical field [0001] The invention relates to a mechanical positioning method, in particular to a complex surface drilling and riveting head positioning technology, in particular to a positioning device-based calibration method for an aircraft automatic drilling and riveting parallel connection attitude adjustment bracket. Background technique [0002] Aircraft components are large in size and difficult to process. The efficiency of manual assembly is low, and the accuracy is difficult to guarantee, which greatly affects the service life and safety factor of the aircraft. In order to solve the above problems, countries around the world have widely used automated assembly technology to assemble large aircraft components such as aircraft panels and designed various types of automated assembly systems. [0003] Nanjing University of Aeronautics and Astronautics has designed a gantry-type automatic drilling and riveting system according to the processing requirements of workpi...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 陈文亮王志浩陶克梅石双江王威张志强韩苏亮朱良麟刘冰洁杨景岚
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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