[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]
Copy
A novel algorithm of normal attitude regulationfor the designed end-effector of a flexible drilling robot(
)
曲面柔性制孔机器人末端执行器及其法向姿态调整的一种新算法
)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
- 曲面柔性制孔机器人末端执行器及其法向姿态调整的一种新算法
- 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.
- 设计了一种曲面柔性制孔机器人末端执行器, 并针对该末端执行器提出了一种法向姿态调整的新算法.空间不共面四点可以确定一个与之相切的球面, 求出该球面的半径及球心位置, 以该球面近似代表制孔点区域的曲面, 联结制孔点与该球面球心的矢量即可近似代表制孔点曲面的法矢量.根据这一原理, 该算法首先用4个位移传感器测量出曲面上制孔区域内4个点的坐标, 并由此计算出制孔位置的法向矢量, 然后计算出此法向矢量与末端执行器上电主轴的轴线矢量的误差.根据该误差, 进一步计算出末端执行器上2个旋转轴的旋转角度及制孔机器人另外3个直线移动方向的移动距离, 从而实现调整主轴在制孔点与曲面垂直的功能.针对2种类型曲面的仿真结果表明, 根据该算法可以实现较高的调整精度和效率.
References:
[1] Millar A, Kihlman H. Reconfigurable flexible tooling for aerospace wing assembly [C]//Proceedings of the SAE 2009 AeroTech Congress and Exhibition. Seattle, WA, USA, 2009: 013243.
[2] Zhou Wanyong, Zou Fang. Research on automatic drill with five axes for flexible assembly of aircraft wing components [J]. Aeronautical Manufacturing Technology, 2010(2): 44-46.(in Chinese)
[3] Hogan C, Hartmann J, Thayer B, et al. Automated wing drilling system for the A380-GRAWDE [C]//Proceedings of the Automated Fastening Conference and Exposition. Montreal, Canada, 2003: 012940.
[4] Atkinson J, Hartmann J, Jones S, et al. Robotic drilling system for 737 aileron [C]//Proceedings of the SAE 2007 AeroTech Congress and Exhibition. Los Angeles, CA, USA, 2007: 013821.
[5] Hempstead B, Thayer B, Williams S. Composite automatic wing drilling equipment(CAWDE)[C]//Aerospace Manufacturing and Automated Fastening Conference and Exhibition. Toulouse, France, 2006: 013162.
[6] Buttrick J. Flex track drill [J]. SAE Transactions, 2003, 112(1): 389-392.
[7] Du Baorui, Feng Ziming. Robot drilling system for automatic drilling of aircraft component[J]. Aeronautical Manufacturing Technology, 2010(2): 47-50.(in Chinese)
[8] Thompson P, Hartmann J, Feikert E, et al. Flex track for use in production [J]. SAE Transactions, 2005, 114(1): 1039-1045.
[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.
[10] Qin X S, Wang W D, Lou A L, et al. Three-point bracket regulation algorithm for drilling and riveting of aerofoil [J]. Acta Aeronautica et Astronautica Sinica, 2007, 28(6):1455-1460.
[11] Craig J J. Introduction to robotics mechanics & control [M]. Addison-Wesley Publishing Company, 1986:120-121.
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]