Aircraft Skin Drill And Rivet Manipulator Automatic Tracking And Measuring Key Technology To Research

At present the automatic drilling and riveting technology in foreign aircraft manufacturing company is applied to different fields, greatly improving the assembly efficiency and quality. However, automatic drilling and riveting technology in China compared with advanced foreign aviation manufacturing countries are still in a lower level.Due to foreign technology blockade, In this paper, the aircraft flexible automatic drilling and riveting technology are studied, flexible drilling manipulator generally by the stiffness and strength of mechanical arm and riveting end effector pose detection and compensation system.For the inherent positioning error of the stiffness and strength of mechanical arm,establishment of the manipulator kinematics modeling, analysis of the transformation between each arm joint coordinate method and joint coordinate matrix and the application of MATLAB software verification.For compensating position detection system, put forward the monocular vision pose estimation coding polyhedron optimization algorithm based on feature target, compute actuator at the end of the deviation between the actual value with the theoretical value, the deviation parameters kinematics inverse kinematics, and further improve the mechanical arm absolute positioning accuracy.One of the important links to guarantee the system measuring accuracy of camera parameter calibration puts forward the construction of measuring network camera parameter calibration method and camera parameter calibration method of local correction. This method is effective to solve the two-dimensional plane targets in depth direction information is insufficient, and the problem of three dimensional target space limit distortion parameters and correct the imaging plane of dividing area, through experiment and comparison with other methods prove the superiority of the proposed method.For actuators measuring tip at the end of the space position, proposed the establishment of a system of key position coordinates, the measuring point coordinates by solving the pose transformation matrix. Analysis of system error factors, and set up the experimental platform,the key technology of the system is verified.