| 机器人柔性钻孔控制系统的设计与实现 |
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| 引用本文： | 王杭,沈建新,田威,廖文和,万世明,李东明.机器人柔性钻孔控制系统的设计与实现[J].南京航空航天大学学报,2012,44(Z1):65-68. |
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| 作者姓名： | 王杭 沈建新 田威 廖文和 万世明 李东明 |
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| 作者单位： | 1. 南京航空航天大学机电学院,南京,210016
2. 成都飞机工业(集团)有限责任公司,成都,610092 |
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| 摘 要： | 针对飞机柔性装配的需要,在具体分析机翼钻孔流程的基础之上,提出一套基于工业机器人的柔性钻孔控制系统。该系统采用工业机器人集成多功能末端执行器的工作方式,并开发出具有精度补偿、姿态自适应调整和运动控制等功能的软件包。实验证明,该系统能有效提高机翼钻孔的质量和效率,满足其装配需求。
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| 关 键 词： | 工业机器人 钻孔 数字化装配 运动控制 |
Design and Implementation of Robot Flexible Drilling Control System |
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| Wang Hang
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Shen Jianxin
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Tian Wei
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Liao Wenhe
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Wan Shiming
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Li Dongming.Design and Implementation of Robot Flexible Drilling Control System[J].Journal of Nanjing University of Aeronautics & Astronautics,2012,44(Z1):65-68. |
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| Authors: | Wang Hang Shen Jianxin Tian Wei Liao Wenhe Wan Shiming Li Dongming |
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| Institution: | 1.College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics & Astronautics,Nanjing,210016,China;2.Chengdu Aircraft Industrial(Group) Co.,Ltd.,Chengdu,610092,China) |
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| Abstract: | For the requirements of aircraft flexible assembly,the industrial robot drilling control system is proposed based on the analysis of the wing drilling process.The system adopts an industrial robot integrated with multi-functional end-effector design approach,a software package is developed with precision compensation,adaptive posture adjustment and motion control functions.Experiments show that the system can improve the accuracy and efficiency of robotic drilling effectively and meet the assembly requirements. |
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| Keywords: | industrial robot drilling digital assembly motion control |
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