| 移动工业机器人在飞机装配生产线中的应用研究 |
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| 引用本文： | 陶永,高赫,王田苗,江山,任帆,温宇方.移动工业机器人在飞机装配生产线中的应用研究[J].航空制造技术,2021(5):32-41,67. |
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| 作者姓名： | 陶永 高赫 王田苗 江山 任帆 温宇方 |
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| 作者单位： | 北京航空航天大学机械工程及自动化学院;北京航空航天大学航空发动机研究院 |
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| 摘 要： | 在总结移动工业机器人在飞机装配生产线等航空制造场景典型应用的基础上,重点分析了移动工业机器人多传感器融合的同步定位和建图、移动机器人导航控制、机械臂精度控制和数字化测量等关键技术,并对未来航空领域移动机器人的人机协作、多传感器数据融合、智能规划与决策、数字孪生体系等发展趋势进行了阐述。
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| 关 键 词： | 移动工业机器人 飞机装配线 同步定位和建图(SLAM) 导航控制 多传感器融合 人机协作 |
Application of Mobile Industrial Robot in Aircraft Assembly Production Line |
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| TAO Yong,GAO He,WANG Tianmiao,JIANG Shan,REN Fan,WEN Yufang.Application of Mobile Industrial Robot in Aircraft Assembly Production Line[J].Aeronautical Manufacturing Technology,2021(5):32-41,67. |
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| Authors: | TAO Yong GAO He WANG Tianmiao JIANG Shan REN Fan WEN Yufang |
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| Institution: | (School of Mechanical Engineering&Automation,Beihang University,Beijing 100191,China;Research Institute of Aero Engine,Beihang University,Beijing 100191,China) |
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| Abstract: | This paper summarizes the typical applications of mobile industrial robots in aviation manufacturing scenarios such as aircraft assembly lines.It focuses on the analysis of key technologies such as multi-sensor fusion SLAM,navigation control of mobile robots,precision control of robot arms and digital measurement.The development trends such as human-robot collaboration,multi-sensor information fusion,planning decision,and digital twin system for mobile robots in aviation manufacturing field are described. |
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| Keywords: | Mobile industrial robot Aircraft assembly line Simultaneous localization and mapping(SLAM) Navigation control Multi-sensor fusion Human-robot collaboration |
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