论文部分内容阅读
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。
In the process of digital drilling and riveting of complex curved surfaces such as aircraft siding, in order to ensure the non-contact measurement method of the normal drilling rifle along the curved surface micro-element, the measurement of multi-spot laser ranging is used to calculate the normal, Adjust the attitude of the end effector mounted on an industrial robot or other mobile device so that the riveting device is fed in the normal direction of the measured part. Using the plane fitting method, determine the reference plane equation. The distance to the reference plane measured by a plurality of distance measuring devices is used to calibrate the installation position and posture parameters of the distance measuring device. Based on the distance to the measured part measured by a plurality of distance measuring devices, the normal direction of the part to be drilled and riveted is calculated. The examples show that the method of normal measurement of the surface is correct and can be applied to the digital manufacturing and assembly work of aircraft such as positioning and attitude adjustment.