Stability Control Of Pressure Keeping For Tiles Based On Industrial Robot

Bonding is an important way of connection in aircraft assembly because of its lightweight and fatigue resistance.It is necessary to press the tiles until the adhesive between them is solidified in order to ensure the connecting strength of the connection between tiles.Insulated tile which is positioned and bonded to the aircraft is a research object in this paper.Pressure is kept by industrial robot.There would be a lateral displacement caused by the lateral force for tiles,causing pressure fluctuations.In order to ensure that the holding pressure is stabilized and the tiles are high-precision positioned,a method of pressure control is proposed which is based on robot positioning technology and digital measurement technology.A stability control system of tiles bonding based on industrial robot is built in this paper.During the packing process,real-time measurements of the keeping pressure and the position of insulated tile is respectively carried out.Finally the precise error is compensated by adjusting the end of the robot.According to the analysis above,the main contents of this paper is concluded as follows:(1)The coordinate system is calibrated.The coordinate system of each part of the system is established and the unity of the coordinate system is realized.The robot root coordinate system and three laser displacement sensor are calibrated respectively by establishing the mathematical model.(2)The method of controlling pressure-keeping precision is studied.A complex digital filtering algorithm is established to suppress the interference signal in the operation of pressure sensor.The error compensation model is used to compensate the pressure which ensures the accuracy and stability of the pressure.(3)The method of controlling the position of the insulated tile is studied.The normal vector of the actual measuring point is measured by three displacement sensors and the point mapping model is established to obtain the relative position between the insulated tile and the robot.The absolute position of insulated tile is obtained based on the position of T-Mac feedback by the robot in real time.The robot iteratively compensates for the positioning error which ensures the position accuracy of protective tile.(4)The software of holding control for insulated tile is developed and the operation flow is designed.Functions like base coordinate system establishment and pressure keeping are developed.