【作者】 赵伟；

【导师】 柯映林； 俞慈君；

【作者基本信息】 浙江大学 ， 机械工程， 2013， 硕士

【摘要】 目前,工业机器人已越来越多地应用于飞机数字化装配中,大大提高了飞机装配的效率和质量。机器人末端通过连接各种飞机部件、系统件、制孔模板等,可精确定位各种飞机部件、系统件和制孔模板,大量减少各种装配辅助工装；机器人末端连接多功能动力头,可实现飞机部件制孔、镗孔等功能,大大提高了飞机装配的数字化水平、大幅度提升了飞机装配的质量。工业机器人虽然具有较高的重复定位精度,但其定位精度受到其自身结构的影响,不能达到高精度装配的要求,因而需要引入激光跟踪仪进行高精度、大范围的测量,以提高机器人的定位精度,达到装配安装的要求。研究基于激光跟踪仪的机器人定位精度提高技术对进一步扩展工业机器人在飞机数字化装配系统中的应用,提高飞机装配的质量和柔性化水平有着十分重要的意义。本文以飞机数字化装配为研究背景,研究了基于激光跟踪测量的机器人定位精度提高技术。各章节具体内容如下：本文第一章阐述了激光跟踪仪测量技术和工业机器人技术在飞机数字化装配技术中的应用及国内外研究现状,介绍了激光跟踪仪测量技术和工业机器人技术,论述了论文的选题背景和总体框架。第二章介绍了LEICA激光跟踪仪系统的组成、测量原理,分析了激光跟踪仪的转站原理和测量误差,并简单介绍了激光测量系统软件的功能模块；对KUKA KR360-2F工业机器人的运动学进行了求解。第三章以KUKA机器人连杆参数为优化参数,建立了机器人连杆参数优化模型；采用牛顿法对机器人的连杆参数进行了优化,仿真实验表明：连杆参数优化的结果与实际情况相符,可大大提高轻载条件下机器人的定位精度。第四章提出了一种基于激光跟踪测量的机器人工具坐标系标定方法,阐述了标定原理和标定过程。针对该方法标定精度不稳定的情况,通过机器人的奇异位形分析,证明了机器人奇异位形会对工具坐标系标定精度造成影响,并进行了实验验证。第五章在阐述飞机数字化装配中机器人加工作业系统的组成、功能及各坐标系标定的基础上,提出了一种基于激光跟踪测量的机器人姿态修正方法,阐述了其原理及过程,介绍了机器人姿态修正技术与软件系统的集成。第六章对全文工作进行总结,对需要进一步研究的工作进行了展望。更多还原

【Abstract】 Industrial robots are being used more and more in aircraft digital assembly at present, and the robot technology improves the efficiency and quality of aircraft assembly greatly. By connecting various aircraft components, system parts and templates of drilled holes in the end, a robot can fulfill various accurate positioning and reduce assembly auxiliary equipment. By fixing multi-function tools, the robot can finish many functions such as drilling a hole or boring a hole, and this improves the digital level and quality of aircraft assembly greatly. Although the industrial robot has a high repetitive positioning accuracy, the positioning accuracy is influenced by its structure and it can’t meet the requirement of high accuracy in assembly. It is necessary to introduce the laser tracker to carry out a high accurate and wide-range measurement in order to improve the positioning accuracy of the robot and meet the requirement of assembly installation. So it is very important to carry out the research on improvement of positioning accuracy of robot based on laser tracker measurement in order to expand the application of industrial robot technology in aircraft digital assembly and to improve the assembly quality and the level of flexibility. The aircraft digital assembly is the research background of this article, and this article makes a research on improvement of positioning accuracy of robot based on laser tracker measurement. Specific contents of each chapter are as follows:In chapter1, the research and application status of aircraft digital assembly with laser tracker and industrial robot at home and abroad are introduced firstly, and then laser tracker technology and robot technology are summarized, in the end of this chapter the background and overall framework of this dissertation are given. In chapter2, the system structure of laser tracker, measurement principle and the software of measurement are introduced firstly, then, the orientation principle and error of measurement are analyzed, and at last the kinematics of KUKA robot is calculated. In chapter3, joint link parameters of KUKA robot are selected as the optimized parameters, and the optimized model is established, then Newton method is selected as the optimized method, and simulation demonstrates that results of optimization accord with practice, with optimization the positional accuracy of robot can be improved greatly. In chapter4, a method based on laser tracker measurement to calibrate the tool coordinate frame of robot is put forward, and the principle and process of calibration are expounded; however, the accuracy of calibration is not always stable, so the singularity of the robot is analyzed and that the calibration error of robot TCF arises when the robot runs through its singular positions is proved, and then experiment is carried out to test and verify. In chapter5, in aircraft digital assembly, the structure, function and calibration of coordinates of robot processing operating system is stated, on this base, a method based on laser tracker measurement to correct the position and orientation of robot is put forward, and the principle and process of the method is given, then the technology of position and orientation correction integrated with system software is introduced. In the final chapter, summary for the whole work is given, and the future work is expected.更多还原