航空制孔机器人末端垂直度智能调节方法

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.

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

Based on the requirement of robotic drilling for aircraft fuselage,a novel verticality adjustment method of drill bit in aeronautical drilling robot system was proposed,which is composed of surface-normal measurement and adjustment of drill bit’s attitude.Three laser range sensors were used in surface-normal measurement to measure the distances between sensors and three measurement positions around the drilling point.Thus the normal vector can be calculated from the cross product of any two vectors that are tangent to the surface at the drilling point.Meanwhile,the angle between normal vector and drill bit was obtained,which was fed back to the control system.Finally,the attitude of drill bit was adjusted using the binary angular adjustment mechanism(BAAM) to correct drill bit in line with the normal vector,which ensures to drill along the normal direction of drilling point.The high-accuracy,high-efficiency and practicability of the verticality adjustment method were tested by the experiments conducted on the aeronautical drilling robot,which meet the requirements of the auto-drilling for aircraft manufacturing.