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航空制孔机器人末端垂直度智能调节方法

公茂震 袁培江 王田苗 张睿

陈海波, 何国瑜. 前馈卡塞格伦紧缩场设计与检测[J]. 北京航空航天大学学报, 2005, 31(11): 1181-1184.
引用本文: 公茂震, 袁培江, 王田苗, 等 . 航空制孔机器人末端垂直度智能调节方法[J]. 北京航空航天大学学报, 2012, 38(10): 1400-1404.
Chen Haibo, He Guoyu. Design and determination for the front fed Cassegrain compact range[J]. Journal of Beijing University of Aeronautics and Astronautics, 2005, 31(11): 1181-1184. (in Chinese)
Citation: Gong Maozhen, Yuan Peijiang, Wang Tianmiao, et al. Intelligent verticality-adjustment method of end-effector in aeronautical drilling robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2012, 38(10): 1400-1404. (in Chinese)

航空制孔机器人末端垂直度智能调节方法

基金项目: 国家自然科学基金资助项目(61075084)
详细信息
  • 中图分类号: TP 242.2

Intelligent verticality-adjustment method of end-effector in aeronautical drilling robot

  • 摘要: 针对飞机蒙皮的机器人制孔中铆接孔的垂直度问题,提出了一种曲面法线测量的新方法,然后对钻头的姿态进行调整,保证钻头沿钻孔点的法线方向钻孔.该方法首先利用3个激光测距传感器测量出钻孔点周围3个特征点的坐标,然后求出已知的钻孔点处的切向量,通过叉积原理计算出钻孔点的法向量及其与钻头中心轴线的夹角,并将它们反馈到控制系统,最后控制系统利用定角度的二元角度调节法调节钻头的角度使其与钻孔点的法线重合.在航空制孔机器人平台上的实验及结果证明了这种钻头垂直度调节的高精度和高效性.

     

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  • 期刊类型引用(2)

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    2. 汪巧云,毛邦宁,裘燕青,钟宇民,高欣宇,杨静,李裔. F-P光纤标准具高精度温控系统设计与算法研究. 光电子·激光. 2020(07): 682-687 . 百度学术

    其他类型引用(2)

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  • 被引次数: 4
出版历程
  • 收稿日期:  2011-10-12
  • 网络出版日期:  2012-10-30

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