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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.
Aiming at the problem of the verticality of the rivet holes in the robot skin made by aircraft skin, a new method for the normal measurement of the surface is proposed. Then the attitude of the drill bit is adjusted to ensure that the drill bit drills along the normal direction of the drilling point. Methods Firstly, three laser ranging sensors were used to measure the coordinates of the three characteristic points around the drilling point. Then, the tangent vector at the known drilling point was calculated. The normal vector of the drilling point and its normal vector And the drill center axis angle and feedback them to the control system, the final control system uses the angle of the binary angle adjustment method to adjust the drill bit angle so that it coincides with the normal point of the drill hole in the hole robot platform The experiments and results demonstrate the high accuracy and efficiency of the drill bit verticality adjustment.