基于激光测距的大部件对接方法及误差分析  

Novel posture alignment method and error analysis for large component assembly based on laser range sensing

作　　者：秦宇 黄翔[1] 邓正平 陈允全[2] 主逵 QIN Yu;HUANG Xiang;DENG Zhengping;CHEN Yunquan;ZHU Kui(College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics&Astronautics,Nanjing 210016,China;Department of Product development,AVIC Chengdu Aircraft Industry(Group)Co.,Ltd.,Chengdu 610091,China;Shenzhen Jintuo Automation Equipment Co.,Ltd.,Shenzhen 518000,China)

机构地区：[1]南京航空航天大学机电学院,江苏南京210016 [2]中航工业成都飞机工业(集团)有限公司产品研制部,四川成都610091 [3]深圳市劲拓自动化设备有限公司,广东深圳518000

出　　处：《计算机集成制造系统》2021年第3期728-738,共11页Computer Integrated Manufacturing Systems

基　　金：国家重点研发计划资助项目(2017YFF0107304)。

摘　　要：针对基于大尺寸测量引导的大部件对接模式成本较高,且精度易受温度等环境因素干扰,提出一种新型的基于激光测距的大部件对接方法,并对其误差因素进行综合分析。给出基于激光测距的对接系统组成及基本原理,采用奇异值分解法对部件当前位姿进行解算,运用几何分析法和小旋量模型构建基于激光测距的大部件对接目标位姿解算模型,依据调姿平台运动学计算各定位器调姿运动量。考虑方法及系统的主要误差来源,采用蒙特卡洛仿真方法分析了误差源对调姿量精度的影响规律。采用大部件对接实验系统对所提方法的有效性及精度进行验证,表明实际对接精度优于0.05 mm。The assembly mode based on large-scale measurement guidance is costly,and the accuracy is easily interfered by environmental factors such as temperature.A new method of large components assembly based on laser range sensing was proposed,and the error factors were comprehensively analyzed.The basic composition and principle of the system based on ranging were introduced.The current pose of the component was solved via the Singular Value Decomposition(SVD)method,and the model of the large-component docking target pose based on laser ranging was constructed with the geometry analysis method and the small rotation model.According to the kinematics of the attitude platform,the amount of posture adjustment of each positioner was calculated.As the error exists in the adopted method and system,Monte Carlo simulation method was used to analyze the ipmact and law of the main error source on the accuracy of the attitude adjustment.The effectiveness and accuracy of the proposed method were verified by the test system,and the result showed that the actual accuracy was better than 0.05mm.

关 键 词：激光测距 大部件对接 误差分析 蒙特卡洛仿真 

分 类 号：TN249[电子电信—物理电子学]