Research On Robotic Route And Posture Off-line Planning And On-line Calibrating Method For Aircraft Assembly

Digital and flexible assembly is the trends of advanced aircraft assembly. The robotic drillingtechnology has become research focus in aviation manufacturing field at home and abroad. Due tocomplex robot task and high accuracy requirement of location and posture in aircraft manufacturingindustry, it is the foundation and core of this technology application to realize industrial robot taskplanning and accurate positioning and orienting for aircraft assembly. Combining with the specialprocess and precision requirements in aircraft assembly, key technologies of industrial robot trajectoryplanning, online positioning compensation and attitude normalization are deeply studied in this paper.The main fruits of this paper are as follows:(1) The process demand and machining difficulties of aircraft connection hole were studied, andthe key technical requirements of robotic processing task for aircraft assembly were extracted, and theoverall scheme of robotic route and posture off-line planning and on-line calibrating was put forward.(2) Based on the analysis of the process constraints of machining path, the shortest machiningpath model considering product datum detection and the robot motion optimization model along thelinear rail were established. A hybrid algorithm integrated Genetic algorithm with Ant ColonyOptimization was utilized for off-line robotic route planning, and this method has been proven to beeffective through simulation.(3) An on-line positioning compensation method based on spatial three-dimensional grid wasstudied. A detection scheme of product datum feature was confirmed. Furthermore, a method of robotposture on-line alignment to agree with product surface normal vector was put forward. A normalvector detection device was designed, whose calibration method was determined.(4) A series of experiments were carried out to verify on-line positioning compensation methodand posture normalization method. The result shows the positioning error is less than0.4mm, whilethe verticality error less than0.5°, so the position accuracy and vertical accuracy requirements ofaircraft connection holes can be satisfied. The feasibility and validity of this strategy are verified.