[1] Zhang Laixi, Wang Xingsong,. A novel algorithm of normal attitude regulationfor the designed end-effector of a flexible drilling robot [J]. Journal of Southeast University (English Edition), 2012, 28 (1): 29-34. [doi:10.3969/j.issn.1003-7985.2012.01.006]

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A novel algorithm of normal attitude regulationfor the designed end-effector of a flexible drilling robot()

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Journal of Southeast University (English Edition)[ISSN:1003-7985/CN:32-1325/N]

Volumn:

28

Issue:

2012 1

Page:

29-34

Research Field:

Automation

Publishing date:

2012-03-30

Info

Title:

A novel algorithm of normal attitude regulationfor the designed end-effector of a flexible drilling robot

Author(s):

Zhang Laixi;  Wang Xingsong

School of Mechanical Engineering, Southeast University, Nanjing 211189, China

Keywords:

-

PACS:

TP249

DOI:

10.3969/j.issn.1003-7985.2012.01.006

Abstract:

An end-effector for a flexible drilling robot is designed, and a novel four-point algorithm of normal attitude regulation for this end-effector is presented. Four non-coplanar points can define a unique sphere tangent to them in spatial geometry, and the center point of the sphere and the radius can be calculated. The shape of a workpiece surface in the machining area is approximately regarded as such a sphere. A vector from the machining point to the center point is thus approximately regarded as a normal vector to the workpiece surface. By this principle, the algorithm first measures four coordinates on the curve in the drilling region using four sensors and calculates the normal vector at the drilling point, then calculates the error between the normal vector and the axis of the spindle. According to this error, the algorithm further figures out the angles of two revolving axes on the end-effector and the displacements of three linear axes on the robot main body, thus it implements the function of adjusting the spindle to be perpendicular to the curve at the drilling point.Simulation results of two kinds of curved surfaces show that accuracy and efficiency can be realized using the proposed algorithm.

References:

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[9] DeVlieg R, Sitton K, Feikert E, et al. ONCE(one-sided cell end-effector)robotic drilling system [C]//2002 SAE Automated Fastening Conference and Exhibition. Chester, Engla, 2002: 012626.
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Memo

Memo:

Biographies: Zhang Laixi(1973—), male, graduate; Wang Xingsong(corresponding author), male, doctor, professor, xswang@seu.edu.cn.
Foundation item: National Science and Technology Major Project(No.2009ZX04014-023).
Citation: Zhang Laixi, Wang Xingsong.A novel algorithm of normal attitude regulation for the designed end-effector of a flexible drilling robot[J].Journal of Southeast University(English Edition), 2012, 28(1):29-34.[doi:10.3969/j.issn.1003-7985.2012.01.006]

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