ACTA AERONAUTICAET ASTRONAUTICA SINICA >
Pose and shape adjustment method for CFRP fuselage panel based on multi-robot collaboration
Received date: 2022-09-14
Revised date: 2022-10-09
Accepted date: 2022-11-07
Online published: 2022-12-06
Supported by
National Natural Science Foundation of China(52105502);Fund of National Engineering and Research Center for Commercial Aircraft Manufacturing(COMAC-SFGS-2019-263);Fundamental Research Funds for the Central Universities(3042021601)
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.
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 AERONAUTICAET ASTRONAUTICA SINICA, 2023 , 44(14) : 428006 -428006 . DOI: 10.7527/S1000-6893.2022.28006
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