Research On The Bay Section Relative Position-Posture Detection Method Based On The Laser Ranging

Bay section position and orientation detection system is the core part of non-large cylinder bay section digital assembly, also the base of digitalization and automation. This paper focused on the method of non-large cylinder bay section posture detection, the research content is described as follow:Firstly, in this paper we proposed a laser ranging based bay section circular flange position and orientation detection method which is scanning the two circular flange’s distance data a round with two laser ranging sensor which are installed back to back and coaxial to calculate the position and orientation of both fixed section and assembly section. This paper also gives the data processing algorithm of the detection method, besides, ADAMS is used to build the model of the detection method and simulate the detection process. In the simulation, position and orientation detection algorithm is used calculate the position and orientation of circular flange, which proved the correctness of the detection method.Secondly, we designed a laser ranging based experiment platform for circular flange position and orientation detection method, which can not only experiment on the accuracy of detection method, but research on the alignment accuracy of two bay section circular flange while applied the position and orientation detection method. With the required mentioned above, the design of platform is made up of position and orientation detection system and position and orientation adjust system. In this paper the electric structure and the mechanic structure is designed, which choose high accuracy measure and drive component, besides, high accuracy 6-DOF adjust system is an important part. The paper give the alignment accuracy of experiment platform according to the requirement of bay section circular flange alignment accuracy, and defined the accuracy index of position and orientation detection system with adjust system accuracy. Moreover, the kinematic model of the system was established according to the D-H coordinate rules, and solved the inverse kinematic solution. What’s more, simulation analysis is applied in the bay section aligning process, which verified the correctness of position and orientation detection method whil e apply the laser ranging based detect system in the aligning process of two bay section ignoring the machining error and installation error.At last, the paper finished experiment on the accuracy of the detecting method proposed before, which tell the accuracy of detection experiment is satisfied for the real detection. It also finished the experiment of aligning process of two bay section and analyzed the aligning accuracy while applying the detection method in ideal condition, and verified the correctness of the method. Besides, the paper analyzed the geometry error of position and orientation detection system, defined the target parameters to evaluate the total geometry error of the system, and established the error model, the model is used in Montecarlo method to generate random error in the model, which proved the experiment platform is accurate under design condition. With the sensitive analysis, this paper got the parameters that have obvious influence on the system which provided appropriate method to promote the accuracy of system.