A Calibration Method for Aircraft Automatic Drilling and Riveting Parallel Attitude Adjustment Bracket

Abstract

A calibration method for an aircraft automatic drilling and riveting parallel attitude adjustment bracket can be used for calibration of industrial parallel robots. According to the target pose, the ideal displacement of each active movement pair is obtained by kinematic inverse solution under the nominal structural parameters; the active movement movement is driven according to the calculated ideal displacement of each active movement pair; after the movement stops, the laser tracker is used to Measure the coordinates of specified points on the bracket to fit the actual pose of the bracket; compare the actual pose of the bracket with the target pose to determine the error of the bracket pose before calibration; use the space vector chain method to establish the pose of the bracket For the error model between the error and the structural error and the displacement of the active moving pair, the least square method is used to identify the structural error; the nominal structural parameters of the bracket are corrected, and the kinematics inverse solution is performed again to determine the active position when the target position is to be reached. Amount of displacement of the mobile sub. The method of the invention is simple, and the recognition precision is high, which is beneficial to improving the movement precision of the bracket, and can satisfy the requirement of the attitude adjustment precision of the bracket 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...

AI Technical Summary

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, and to invent a calibration method for aircraft automatic drilling and riveting parallel connection attitude adjustment brackets based on locators

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