基于协作机器人的飞机总装驾驶方向盘操纵曲线测试  

Aircraft Automatic Test and Operation Curve Acquisition Based on a Cooperative Robot

作　　者：杨锋[1] 胡逸波 刘贡平 韩冰 方强[2] 魏燕定[2] YANG Feng;HU Yi-bo;LIU Gong-ping;HAN Bing;FANG Qiang;WEI Yan-ding(AVIC Xi'an Aircraft Industry (Group) Limited Company, Xi'an 710089, China;Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China)

机构地区：[1]西安飞机工业(集团)有限责任公司,西安710089 [2]浙江大学机械工程学院,浙江省先进制造技术重点研究实验室,杭州310027

出　　处：《科学技术与工程》2021年第15期6506-6512,共7页Science Technology and Engineering

基　　金：中航飞机股份有限公司-“千百万基金”课题(CC201907-00049);国家重点研发计划(2019YFB1707505)。

摘　　要：针对飞机总装测试过程中,人工从外部获得飞机驾驶操纵位移/力曲线难的问题,提出了一种采用协作机器人代替人工进行操作,并利用机器人自身关节上传感器测得其操纵曲线的方法。首先建立试验系统,描述了模拟方向盘装置的加载原理,并推导出其理论操纵曲线。然后通过建立机器人的D-H(Denavit-Hartenberg)模型解算出机器人各轴角度、力矩与末端位置、受力的关系,进而转化为方向盘的转角和所受力矩关系。接着建立机器人的阻抗控制模型解决了转动方向盘因为轨迹误差造成的憋死问题,并通过实验表明机器人能够顺从方向盘的既定轨迹完成了方向盘的回转运动。通过机器人转动方向盘实验做出的操纵曲线与内部传感器的曲线对比,误差在2%以内,说明了协作机器人代替人进行测试的可行性。In order to solve the problem that it is difficult to obtain the displacement/force curve of flight control manually from outside in the process of aircraft assembly test,a method of using cooperative robot instead of manual operation was proposed,and the control curve was measured by the sensor on the robot's own joint.Firstly,the test system was established,the loading principle of the simulated steering wheel device was described,and the theoretical steering curve was derived.Then,by establishing the D-H(Denavit-Hartenberg)model of the robot,the relationship between the angle and torque of each axis of the robot and the end position and force was calculated,and then the relationship was transformed into the relationship between the angle and the torque of steering wheel.Then the impedance control model of the robot was established to solve the problem of suffocation caused by the trajectory error of the steering wheel.The experiment shows that the robot can follow the given trajectory of the steering wheel and complete the rotation of the steering wheel.Compared with the curve of the internal sensor,the error is less than 2%,which indicates the feasibility of the cooperative robot to replace human.

关 键 词：协作机器人 飞机自动化测试 驾驶操纵曲线 KUKA机器人 

分 类 号：V240.2[航空宇航科学与技术—飞行器设计]