基于工业机器人的复杂曲面件保压侧移控制方法  

A Method of Lateral Displacement Control for Complex Curved Surface Structure Based on Industrial Robot During Pressure Keeping Process

作　　者：匡婷玉 李泷杲[1] 翟建军[1] 黄翔[1] 江一帆 KUANG Tingyu;LI Shuanggao;ZHAI Jianjun;HUANG Xiang;JIANG Yifan(College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics&Astronautics,Nanjing 210016,China)

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》2018年第12期80-85,91,共7页Aeronautical Manufacturing Technology

基　　金：航空科学基金项目(2016ZE52053)

摘　　要：在保压力加载过程中,复杂曲面件在侧向力的作用下产生位姿侧移。为了保证复杂曲面件的位置精度,构建复杂曲面件保压控制系统,借助激光位移传感器和T-Mac激光跟踪系统,测量复杂曲面件的位置并在线补偿误差。通过3个位移传感器测量实际加载点的法矢方向,利用夹角逼近算法搜索获得实际点位,对比理论点位,得到复杂曲面件与机器人的相对位置。根据T-Mac实时反馈机器人的位置,解算获得复杂曲面件的绝对位置,并调整机器人末端实现复杂曲面件的位置修正。试验结果表明,经第3次在线补偿后,复杂曲面件位置精度达到0.1mm,相比原始误差提升了90%。There would be a lateral displacement caused by the lateral force for complex curved surface structure during the pressure keeping process.A pressure keeping system consisted of laser displacement sensor and T-Mac was built,in order to measure the position of complex curved surface structure and compensate the error on-line.Coordinates of the actual measuring point were calculated based on angle approaching,whose normal direction was measured by three displacement sensors.The relative location to complex curved surface structure from the robot was provided by comparing the coordinates of the actual measuring point with the theoretical point.The position of the robot was given real-time by T-Mac.Then the absolute position of complex curved surface structure was obtained.The position correction of complex curved surface structure was realized by adjusting the robot end.The results of three times of online error compensation experiments show that the position deviation is close to 0.1mm and is decreased by 90%compares to the original error.

关 键 词：机器人 夹角逼近 误差补偿 闭环控制 复杂曲面 

分 类 号：V260.6[航空宇航科学与技术—航空宇航制造工程]