Method And Implementation Of Task Planning In Robotic Flexible Assembly System Based On Product Model

Robotics Flexible Assembly System(RFAS), which centers on industrial robots and integratesflexible tooling, automatic drilling&riveting and real-time online measuring technology, has becomeresearch focus and development trend in aircraft assembly. However, due to miscellaneousequipments, severe machining environment, complicated coordination relationships, the processefficiency and system security will correspondingly reduce. Therefore, task planning of robot, endeffector, flexible tooling and process simulation are critical technologies for application. This paperstudies on task planning method of process equipment in RFAS, with the main fruits as follows:(1) The process flow of robotic drilling was analyzed according to process equipments includedin RFAS. The overall solution of process equipment in RFAS was put forward based on actualdemand.(2)The planning method of robot task and end effector task were expounded based on productCAD model and the creation mechanism and extraction method of product process information wasstudied. On this basis, the robot task planning in substation work mode was raised and the intelligentplanning of end effector task was realized by connecting the process database and product feature.(3) The simulation method referring to off-line NC program was put forward. The3D graphicalsimulation of robot machining process was completed through DELMIA secondary development. Inaddition, the off-line program could be modified according to interference and collision check results.(4) The configuration method relying on robotic seizing was proposed based on the operatingcharacteristics of passive POGO sticks flexible tooling, and the robot-assisted reconfigurationalgorithm was established. The flexible tooling reconfiguration task planning and the NC programpost-processing were achieved through DELMIA secondary development.Based on the above research results, the software for process equipments task planning andsimulating confirmation was developed orienting aircraft assembly and actual application effect isgood.