大型复合材料机身壁板多机器人协同装配调姿控形方法

doi:10.7527/S1000-6893.2022.28006

Abstract

Abstract:

Aiming at the assembly process characteristics of Carbon Fiber Reinforced Plastic （CFRP） fuselage panels， such as large size， large curvature， and difficulty to reduce the shape deviation， a pose and shape adjustment method for CFRP fuselage panel based on multi-robot collaboration is proposed. The pre-positioning of the clamping units on each robot is realized， and the global kinematic model of the multi-robot flexible assembly system is established. Through multi-robot collaborative motion， the pose adjustment of the composite panel is achieved， with the error analysis of the collaborative motion. The relationship between the deviation of shape-control point and the robot motion is established， the shape of the composite fuselage panel is then adjusted through the robot movement. Finally， the proposed method is verified by application experiments. The results show that the pose adjustment method can achieve a positioning accuracy of better than 0.08 mm， and the shape accuracy of the composite fuselage panel can reach 0.6 mm， which demonstrates the feasibility and effectiveness of the method.

Key words: aircraft assembly, CFRP fuselage panel, multi-robot collaboration, pose adjustment, shape adjustment

CLC Number:

V262.4

Yingke YANG, Dongsheng LI, Liheng SHEN, Rupeng LI, Yunong ZHAI. Pose and shape adjustment method for CFRP fuselage panel based on multi-robot collaboration[J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(14): 428006-428006.

Figures/Tables 16

Fig.1

Fig.2

Fig. 3

Fig.4

Fig.5

Fig.6

Fig.7

Fig.8

Fig.9

Table 1

Table 2

Table 3

Fig.10

Fig.11

Table 4

Table 5

Variations of force/torque sensors measurement values

序号	$Δ F x$ /N	$Δ F y$ /N	$Δ F z$ /N	$Δ T x$ /（N·m）	$Δ T y$ /（N·m）	$Δ T z$ /（N·m）
1	-158.935	-335.901	-168.243	9.960	-19.766	-6.310
2	-20.799	39.118	77.277	-20.714	46.979	7.246
3	-21.028	266.634	-62.728	-10.846	-38.602	13.853
4	78.992	440.328	-267.187	12.771	18.549	21.007
5	60.704	85.745	229.695	-12.165	-80.002	-3.136
6	51.869	-491.358	-231.993	-13.630	49.482	-9.513

Table 5

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运动方向	位置偏差/mm	X方向偏差/（°）	Y方向偏差/（°）	Z方向偏差/（°）
X	0.014	-0.011	-0.008	-0.001
Y	0.052	0.007	-0.004	0.008
Z	0.029	0.004	-0.001	0.004

旋转轴	位置偏差/mm	X方向偏差/（°）	Y方向偏差/（°）	Z方向偏差/（°）
X	0.031	-0.001	-0.002	0.006
Y	0.014	0.003	-0.001	0.001
Z	0.003	0.005	0.005	0.002

项目	第1次实验			第2次实验			第3次实验
项目	X方向	Y方向	Z方向	X方向	Y方向	Z方向	X方向	Y方向	Z方向
调姿前位置偏差/mm	50.465	20.086	45.192	-38.132	-27.415	-33.574	52.691	20.440	20.478
调姿后位置偏差/mm	-0.047	0.002	-0.023	-0.025	-0.069	-0.027	0.018	0.020	-0.036
调姿前方向偏差/（°）	1.543	0.842	0.942	-1.400	-0.706	-0.834	0.650	0.872	0.223
调姿后方向偏差/（°）	0.000	-0.001	0.001	0.002	-0.006	-0.008	0.002	-0.002	0.002

形状控制点	调控前偏差/mm			调控后偏差/mm
形状控制点	X方向	Y方向	Z方向	X方向	Y方向	Z方向
SC1	-0.013	0.271	-4.612	0.033	0.319	0.505
SC2	0.009	0.061	0.149	0.025	0.060	0.098
SC3	-0.032	-0.098	-1.886	-0.020	-0.120	0.077
SC4	-0.011	-0.120	-3.742	-0.039	0.203	0.134
SC5	0.089	0.101	0.134	0.065	0.092	0.038
SC6	0.048	-0.391	-4.503	0.035	-0.320	0.386

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Pose and shape adjustment method for CFRP fuselage panel based on multi-robot collaboration

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