Research On On-line Detection Technology Of Robotic Drilling And Riveting System Based On Integration Of Multiple Sensors

Robot automatic drilling and riveting technology is the research trend of the digital assemblyconnection technology. On-line detection can effectively guarantee the processing quality of drillingand riveting technology, which is one of the key technologies of a robot automatic drilling andriveting system. Based on the work characteristics and the actual demand of the robot automaticdrilling and riveting system, this paper proposes an on-line detection system of the robot automaticdrilling and riveting system with the method of multi-sensor integration, which has functions ofdetecting working environment, drilling and riveting process and manufacturability. The main studiesof this paper are as follows:Firstly, this paper proposes an overall scheme of multi-sensor integrated online detection. Baseon the detail analysis of the structure and basic functional requirements of robot automatic drillingand riveting system, the overall frame of the multi-sensor integrated online detection system isproposed. Sensor configuration, data acquisition and processing scheme, such as the detection ofbenchmarks, normal direction of skin, countersink depth, etc. is completed as well.Secondly, the data processing model of the key detection techniques is established. The measuremethod of benchmarks based on2D laser line scanning and measure method of normal directionbased on the3points laser ranging are proposed. The mathematical model of recognizing abenchmark and measuring normal direction is established. Meanwhile, the model of compensatingbenchmark and adjusting normal direction is proposed.Thirdly, the system errors are analyzed and the system calibration method is proposed. Based onthe analysis from two aspects of static and dynamic error of the system, the system Monte Carlo errormodel is established, and then the calibration method of key parameters of the system is proposed. Atthe same time, by applying the seven parameters method and the unit quaternion method, thecoordinate systems are calibrated and the system data transformation model is established.Finally, the algorithm model of benchmark detection based on2D laser line scanning byexperiment is tested and verified. The system parameter calibration and data transformation iscompleted, while numeral error simulation and accuracy estimation is done using error analysis theory.The results show that the established benchmark test model is feasible. Position accuracy of singlestation is0.3mm or less, and is0.4mm or less after turning station. This study will help improve the integration design of robot automatic drilling and rivetingsystem, and provide the corresponding theoretical and experimental accumulation for the plane digitalassembly technology.