双机器人钻铆系统协同控制与基坐标系标定技术  

Collaborative Control and Base Coordinates Calibration Technology for Dual-Robot Drilling and Riveting System

作　　者：向勇[1] 田威[1] 洪鹏[1] 李大伟[1] 

机构地区：[1]南京航空航天大学机电学院,南京210016

出　　处：《航空制造技术》2016年第16期87-92,共6页Aeronautical Manufacturing Technology

基　　金：国家自然科学基金(51475225)

摘　　要：为提升机器人飞机自动钻铆质量并提高自动制孔铆接率,对双机器人协同的飞机自动钻铆技术进行研究,提出双机器人协同自动钻铆工作流程。针对协同运动提出为机器人进行编码,利用Ethernet(TCP/IP)实现系统和机器人之间的信息传输。为了保证系统的完整性,将机器人单侧信息转化到另一侧的机器人下,采用激光跟踪仪并利用单位四元数法对双机器人基坐标系进行标定。最后在KUKA的KR-500双机器人和其30m扩展第七轴上进行协同运动和控制系统试验以及双机器人定位重合度测试,验证了系统的有效性,试验表明因该方法带来的误差可以忽略不计。In order to improve the quality and rate of aircraft robotic automatic drilling and riveting, a dual-robot collaborative drilling and riveting technology is studied, and the workflow of the dual-robot automatic drilling and riveting system is put forward. Robots are coded for the collaborative motion, and the information between the system and robots is transferred through Ethernet（TCP/IP）. In order to ensure the integrity of system and converse robots＇ unilateral information to the robot on the other side, a unit quaternion is used to calibrate the base frame with a laser tracker. Finally, a collaborative motion test, control system test and dual-robot position contact ratio error test are carried out on two KUKA-KR500 robots with 30 m external axis. The results show that the efficiency of system could be achieved and the error of this method could be ignored.

关 键 词：双机器人 协同 自动钻铆 开放式控制系统 基坐标系标定 

分 类 号：V262[航空宇航科学与技术—航空宇航制造工程]