CN106542113B - A kind of aircraft target ship horizontal automatic drill riveter space relative pose error compensating method - Google Patents

A kind of aircraft target ship horizontal automatic drill riveter space relative pose error compensating method Download PDF

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CN106542113B
CN106542113B CN201610945832.XA CN201610945832A CN106542113B CN 106542113 B CN106542113 B CN 106542113B CN 201610945832 A CN201610945832 A CN 201610945832A CN 106542113 B CN106542113 B CN 106542113B
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positioning
relative pose
coordinate
grid
horizontal automatic
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CN201610945832.XA
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CN106542113A (en
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毕运波
柯映林
俞慈君
曲巍崴
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浙江大学
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Abstract

The invention discloses a kind of aircraft target ship horizontal automatic drill riveter space relative pose error compensating methods, specially:The collaborative workspace of two positioning devices in the horizontal automatic drill riveter of analysis of aircraft siding, and carry out rational mesh generation;Laser tracker builds space relative pose Error Grid, and pass through the error amount of arbitrary point in interpolation calculation collaborative workspace grid by the practical relative pose error of two positioning device of tracking measurement;Error compensation is realized using the strategy for carrying out two cooperative device space relative pose error compensations by driven positioning device according to the master-slave relationship of two positioning devices;This method fast and effeciently improves multiple-equipment team working precision, improves the hole machined quality in aircraft assembly, and then promote the assembling quality and efficiency of assembling of aircraft components entirety.

Description

A kind of aircraft target ship horizontal automatic drill riveter space relative pose error compensating method

Technical field

The present invention relates to aircraft mounting technology and equipment field more particularly to a kind of horizontal automatic drill riveter of aircraft target ship are empty Between relative pose error compensating method.

Background technology

Aircraft is assembled as an extremely important ring in aircraft manufacturing, largely determines the final matter of aircraft Amount, manufacturing cost and delivery cycle are the key that during entire aircraft manufacturing and core technology.Due in aircraft assembling process It is related to a large amount of drilling and fastener connection procedure, therefore, the quality and efficiency that drilling is connect with fastener, will become influences An important factor for aircraft entirety assembling quality and efficiency.

The horizontal automatic drill riveter of the aircraft target ship is that drilling important in aircraft assembly connect equipment with fastener, can be certainly It is dynamic to complete that the positioning, drilling of riveted holes of the diameter less than 6mm in aircraft target ship, counter boring, dedusting, plug pin, the operations such as press.It by Drilling plug pin side lathe and the tight side lathe composition of upsetting, both sides positioning device realize that riveting is bored in high quality automation by collaborative work Journey.The quality requirement that is riveted in conjunction with aircraft target ship it is found that ensure in automatic drill riveter the coordination of two positioning device ends with it is opposite Pose accuracy is to ensure to bore riveting quality, improve the indispensable part of final assembly quality institute.

In the complication system of the horizontal automatic drill riveter of aircraft target ship, influence equipment entirety coordination and operating accuracy because It is known as very much.When unilateral positioning device is satisfied by required precision, the factors such as deformation generated with dead weight due to geometric error, two Cooperative device end can still have relative pose error, lead to drilling deflection, plug pin and the serious problems such as riveting process is uncoordinated, The co-ordination for seriously affecting equipment makes equipment and the stress of siding deteriorate, or even destroys rivet or siding.Aircraft target ship Brill riveting quality harmful effect also will produce to subsequent assembly, it is serious to reduce final assembly quality and aerodynamic configuration is special Property, finally shorten its service life.

In aircraft assembling process, usually equipment end pose is demarcated by externally measured system.Based on to two The reasonable mesh generation of positioning device collaborative workspace, and the measurement to the relative pose error amount at space lattice node, Space relative pose Error Grid can be built, and obtains the error amount of space arbitrary point by interpolation calculation, to carry out error benefit It repays.In current research and application, the volumetric position error of multipair single machine people or lathe carries out grid compensation, and mostly uses Fixed dimension grid carries out mesh generation.But during being somebody's turn to do, the relative pose required precision of more equipment rooms is not accounted for, only can Meet the compensation to single device volumetric position error.

The horizontal automatic drill riveter of the aircraft target ship is the complication system that active/standby devices cooperate, and there is an urgent need for one kind quickly and effectively Method compensates active/standby devices relative pose error, high-quality to realize to ensure the relative pose precision of active/standby devices end Riveting, the final assembling quality for promoting complete machine are bored in amount automation.

Invention content

The present invention in order to overcome the deficiencies of the prior art, proposes a kind of aircraft target ship horizontal automatic drill riveter space relative pose Error compensating method can compensate the space relative pose error of two co-located devices, to improve two cooperative devices end The relative pose precision at end realizes that riveting is bored in high quality automation, promotes final assembly quality.

A kind of aircraft target ship horizontal automatic drill riveter space relative pose error compensating method, includes the following steps:

(1) in the horizontal automatic drill riveter system of aircraft target ship, positive location equipment and driven positioning device are established respectively Basis coordinates system, each kinematic axis subcoordinate system and end TCP coordinate systems, establish workpiece coordinate system, assembling coordinate system, and draw Coordinate system definition figure;

(2) kinematics analysis is carried out to the horizontal automatic drill riveter of aircraft target ship, establishes kinematics model, and analyzed and actively determine The collaborative workspace of position equipment and driven positioning device carries out mesh generation to collaborative workspace;

(3) in two positioning devices of the horizontal automatic drill riveter of aircraft target ship, laser tracker is installed respectively and is measured with anti- Penetrate mirror;And laser tracker is placed on the position for the motion range that can cover two numerical control positioning equipment;

(4) two positioning devices controlled in the horizontal automatic drill riveter of aircraft target ship move to the designated space at grid node Pose obtains a series of position coordinates of two positioning device upper reflectors, and calculate two by the tracking measurement of laser tracker Positioning device actual end pose;

(5) difference of the practical relative pose of two positioning devices and theoretical relative pose at each space lattice node, shape are calculated At space relative pose Error Grid, and utilize the error amount of arbitrary point in interpolation calculation grid cell;

(6) according to the master-slave relationship of two positioning devices in the horizontal automatic drill riveter of aircraft target ship, using the driven positioning of adjustment The method of equipment articulation amount carries out two positioning device space relative pose error compensations.

The step (1) is as follows:

(1-1) defines each coordinate system in the horizontal automatic drill riveter of aircraft target ship:The basis coordinates system O of positioning devicej, each to transport Moving axis subcoordinate system Xj、Zj、Yj、Aj、Bj, end TCP coordinate systems tj, workpiece coordinate system OwAnd assembling coordinate system R;It draws and flies The coordinate system definition figure of the horizontal automatic drill riveter of machine siding, makes the change in coordinate axis direction and positioning device base of each kinematic axis subcoordinate system The change in coordinate axis direction of coordinate system is consistent;

Wherein, subscript j values are expressed as positive location equipment for 1 or 2,1, and 2 are expressed as driven positioning device;

The basis coordinates system initial point of positioning device in the horizontal automatic drill riveter system of aircraft target ship is expressed as o by (1-2)j, fixed Position equipment end pose is with vectorial pvj=[pxj,pyj,pzj,wxj,wyj,wzj] indicate;

Wherein, [pxj,pyj,pzj] indicate positioning device end TCP coordinate systems tjOrigin in its basis coordinates system OjUnder position Coordinate is set, [wxj,wyj,wzj] indicate positioning device end TCP coordinate systems tjZ axis attitude vectors.

The step (2) is as follows:

(2-1) carries out kinematics analysis to the horizontal automatic drill riveter of aircraft target ship, and establishes positive location equipment and driven The kinematics model of positioning device:

Wherein,It is the homogeneous transform matrix from coordinate system M to coordinate system N, T1It is positive location equipment from basis coordinates system O1To end TCP coordinate systems t1Homogeneous transform matrix;T2It is driven positioning device from basis coordinates system O2To end TCP coordinate systems t2 Homogeneous transform matrix;

The kinematics model T of (2-2) according to positioning devicej, basis coordinates system OjWith the transformational relation of assembling coordinate system R, will fill End pose with two positioning devices under coordinate system R is described as:

Wherein,RT1It is the end TCP coordinate systems t from assembling coordinate system R to positive location equipment1Homogeneous transform matrix;RT2It is the end TCP coordinate systems t from assembling coordinate system R to driven positioning device2Homogeneous transform matrix;

The end pose of (2-3) based on kinematics model and two positioning devices, the horizontal automatic drill riveter of analysis of aircraft siding In two positioning devices collaborative workspace Q, and according to finite element to the deformation induced by gravity analysis result pair in collaborative workspace Collaborative workspace Q carries out adaptive meshing algorithm, using cube grid, lattice number n.

In step (2-3), according to the deformation induced by gravity analysis result to the horizontal automatic drill riveter of aircraft target ship, positioned to two It is exactly acutely to locate in deformation induced by gravity that the collaborative workspace of equipment, which carries out adaptive meshing algorithm, and grid is drawn a little bit smaller, certainly The gentle place of deformation, grid are drawn more greatly, space error interpolation precision can be effectively improved in this way, to ensure error compensation again Validity.

The step (4) is as follows:

(4-1) controls positive location equipment moving at grid node, object pose pv1, driven positioning device Move to corresponding pose pv2, theoretically meet pose constraint:pv1=pv2

(4-2) laser tracker carries out tracking measurement, after the axis feeding certain distance of two positioning devices, obtains actively One group of position coordinates P of positioning device speculum11And P12, one group of position coordinates P of driven positioning device speculum21And P22, and Calculate the practical attitude vectors N in two positioning device ends1And N2

Wherein, P11And P12It is the front and back actual end position of positive location machine spindle feeding, P respectively21And P22It is respectively Actual end position before and after driven positioning device axis feeding;N1It is the actual terminal angle vector of positive location equipment, N2It is The driven actual terminal angle vector of positioning device;

(4-3) calculates two positioning device end attained pose vector pv1' and pv2':

pv1'=[P11 N1]

pv2'=[P21 N2]

Wherein, pv1' be positive location equipment actual end pose vector, pv2' be driven positioning device actual end Attitude vectors.

The step (5) is as follows:

(5-1) sets each cube 8 nodes of grid in n grid in two positioning device collaborative workspace Q, altogether There is i space lattice node;

(5-2) calculates the theoretical relative pose of two positioning devices and practical relative pose at space lattice node i, and Calculate the difference of practical relative pose and theoretical relative pose:

Δpvi=pvi1-pvi2

Δpvi'=pvi1'-pvi2'

δi=Δ pvi'-Δpvi

Wherein, Δ pviIt is the theoretical relative pose of two positioning devices;Δpvi' be two positioning devices practical relative pose; δiIt is the difference of the practical relative pose and theoretical relative pose of two positioning devices;

(5-3) forms space relative pose using the difference of the practical relative pose and theoretical relative pose of two positioning devices Error Grid E [δi];

(5-4) determines the shape function of corresponding grid cell, and selects suitable order;

The cube grid of 8 nodes, the corresponding stepped function of one are:

Wherein, i is space lattice node;R, s, t are the 3-D walls and floor of local coordinate system in grid, the local coordinate system Origin be grid element center pointThe value of r, s, t is:

Wherein, x, y, z are the coordinates of arbitrary point in grid;A, b, c are grid cells in x, y, one of the length on the directions z Half;Then grid element center pointCoordinate value be:

The cube grid of 20 nodes, it is corresponding secondly stepped function is:

(5-5) calculates the error amount of arbitrary point in grid cell according to the shape function in step (5-4):

Wherein, δ is the relative pose error amount of arbitrary point in the grid obtained by interpolation;δiIt is relative pose error at node Value;M is the interstitial content of each grid cell, the m=8 of single order cube grid, the m=20 of second order cube grid;

Arbitrary point in warp mesh unit is mapped to by mapping relationship f in normal grid cell by (5-6), and is used Local coordinate (r, s, t) indicates, then executes step (5-4) and step (5-5), mapping relationship f are:

Wherein, xi,yi,ziIt is coordinate of the Local grid node in global coordinate system.

In step (6), according to the master-slave relationship of two positioning devices, error compensation strategy is formulated, it is driven fixed using adjusting The method of position equipment articulation amount, carries out two cooperative device space relative pose error compensations, is as follows:

(6-1) calculates the articulation amount compensation rate of driven positioning device using the inverse kinematic algorithm of driven positioning device;

Δq2=Inv (δ)

Wherein, δ is the relative pose error amount of space arbitrary point;Inv () is that the inverse kinematic of driven positioning device is calculated Method;Δq2It is the articulation amount compensation rate of driven positioning device;

(6-2) increases the articulation amount compensation rate of driven positioning device in the controls, realizes to two positioning device spaces The compensation of relative pose error:

q2'=q2+Δq2

Wherein, q2It is the articulation amount before driven positioning device error compensation, i.e., according to target pose pv2Carry out inverse kinematic The articulation amount of gained;q2' it is that driven positioning device carries out the articulation amount after error compensation.

The horizontal automatic drill riveter of aircraft target ship of the present invention space relative pose error compensating method:Analysis of aircraft siding is horizontal The collaborative workspace of two positioning devices in automatic drill riveter, and carry out rational mesh generation;Laser tracker passes through tracking The practical relative pose error of two positioning devices is measured, builds space relative pose Error Grid, and cooperate with by interpolation calculation The error amount of arbitrary point in working space grid;According to the master-slave relationship of two positioning devices, using by driven positioning device into The strategy of two cooperative device space relative pose error compensation of row realizes error compensation.

Compared with the prior art, the advantages of the present invention are as follows:

(1) it realizes under assembling coordinate system, cooperates to two positioning devices in the horizontal automatic drill riveter of aircraft target ship The analysis in space can effectively instruct tooling to enter position, and lay the foundation for cooperative device space relative pose error compensation;

(2) according to the deformation induced by gravity analysis result to the horizontal automatic drill riveter of aircraft target ship, the collaboration to two positioning devices Working space carries out adaptive meshing algorithm, space error interpolation precision is effectively improved, to ensure the validity of error compensation;

(3) attained pose of two positioning devices in the horizontal automatic drill riveter of aircraft target ship is carried out by laser tracker fast Fast effective measurement provides data for cooperative device relative pose error compensation and supports;And the position of laser tracker not shadow Measurement result is rung, only need to ensure that its measurement range covers the collaborative workspace of two positioning devices, greatly facilitate mistake Measuring apparatus arrangement in difference measurements, saves the time of error measure process;

(4) use shape function interpolation method that can effectively calculate the relative pose error amount of arbitrary point in collaborative workspace, and According to the master-slave relationship of two positioning devices in the horizontal automatic drill riveter of aircraft target ship, it is proposed that missed by driven positioning device The strategy of difference compensation realizes the effective compensation to cooperative device relative pose error in full collaborative workspace;

(5) compensation for more device space relative pose errors provides a kind of thinking, fast and effeciently improves set more Standby collaborative work precision improves the hole machined quality in aircraft assembly, improves the assembling quality and dress of aircraft components entirety With efficiency.

Description of the drawings

Fig. 1 is that the flow of aircraft target ship of the present invention horizontal automatic drill riveter space relative pose error compensating method is illustrated Figure;

Fig. 2 is the coordinate system definition figure of the horizontal automatic drill riveter of aircraft target ship;

Fig. 3 is the corresponding cube grid cell of single order shape function and local coordinate system schematic diagram;

Fig. 4 is the corresponding cube grid cell of second order shape function and local coordinate system schematic diagram;

Fig. 5 is normal grid cell and warp mesh cell schematics.

Specific implementation mode

In order to more specifically describe the present invention, below in conjunction with the accompanying drawings and specific implementation mode is to technical scheme of the present invention It is described in detail.

Heretofore described positive location equipment and driven positioning device are respectively one disclosed in CN105643278A Drilling plug pin side numerical control positioning equipment and the tight side numerical control of upsetting in the horizontal automatic Drilling/Riveting lathe that kind is assembled for aircraft target ship is fixed Position equipment.

As shown in Figure 1, a kind of horizontal automatic drill riveter of aircraft target ship of the invention space relative pose error compensating method tool Body includes:

Step 1, each coordinate system in the horizontal automatic drill riveter of aircraft target ship is defined:

The basis coordinates system O of positive location equipment1, each kinematic axis subcoordinate system X1、Z1、Y1、A1、B1, end TCP coordinate systems t1

The basis coordinates system O of driven positioning device2, each kinematic axis subcoordinate system X2、Z2、Y2、A2、B2, end TCP coordinate systems t2

Workpiece coordinate system Ow, assembling coordinate system R;

And the coordinate system definition figure of the horizontal automatic drill riveter of aircraft target ship is drawn, make the reference axis of each kinematic axis subcoordinate system Direction is consistent with the change in coordinate axis direction of positioning device basis coordinates system, as shown in Figure 2.

Step 2, the basis coordinates system initial point of positive location equipment is expressed as o1, end pose is with vectorial pv1=[px1,py1, pz1,wx1,wy1,wz1] indicate;The basis coordinates system initial point of driven positioning device is expressed as o2, end pose is with vectorial pv2= [px2,py2,pz2,wx2,wy2,wz2] indicate;

Wherein, [px1,py1,pz1] indicate the origin of positive location equipment end TCP coordinate systems in its basis coordinates system O1Under Position coordinates, [wx1,wy1,wz1] indicate the Z axis attitude vectors of positive location equipment end TCP coordinate systems;[px2,py2,pz2] table Show the origin of driven positioning device end TCP coordinate systems in its basis coordinates system O2Under position coordinates, [wx2,wy2,wz2] indicate from The Z axis attitude vectors of dynamic positioning device end TCP coordinate systems.

Step 3, kinematics analysis is carried out to the horizontal automatic drill riveter of aircraft target ship, and establishes positive location equipment and driven The kinematics model of positioning device:

Wherein,It is the homogeneous transform matrix from coordinate system M to coordinate system N, T1It is positive location equipment from basis coordinates system O1To end TCP coordinate systems t1Homogeneous transform matrix;T2It is driven positioning device from basis coordinates system O2To end TCP coordinate systems t2 Homogeneous transform matrix.

Step 4, according to the kinematics model T of positioning devicej, basis coordinates system OjIt, will with the transformational relation of assembling coordinate system R The end pose of two positioning devices is described as under assembling coordinate system R:

Wherein,RT1It is the end TCP coordinate systems t from assembling coordinate system R to positive location equipment1Homogeneous transform matrix;RT2It is the end TCP coordinate systems t from assembling coordinate system R to driven positioning device2Homogeneous transform matrix.

Step 5, the end pose based on kinematics model and two positioning devices, the horizontal automatic drill riveter of analysis of aircraft siding In two positioning devices collaborative workspace Q, and according to finite element to the deformation induced by gravity analysis result pair in collaborative workspace Collaborative workspace Q carries out adaptive meshing algorithm, using cube grid, lattice number n.

According to the deformation induced by gravity analysis result to the horizontal automatic drill riveter of aircraft target ship, the collaborative work to two positioning devices It is exactly acutely to locate in deformation induced by gravity that space, which carries out adaptive meshing algorithm, and grid is drawn a little bit smaller, gently locates in deformation induced by gravity, net Lattice are drawn more greatly, space error interpolation precision can be effectively improved in this way, to ensure the validity of error compensation.

Step 6, in two positioning devices of the horizontal automatic drill riveter of aircraft target ship, laser tracker is installed respectively and measures use Speculum;And laser tracker is placed on the position for the motion range that can cover two numerical control positioning equipment.

Step 7, control positive location equipment moving is at grid node, object pose pv1, driven positioning device Move to corresponding pose pv2, theoretically meet pose constraint:pv1=pv2

Step 8, laser tracker carries out tracking measurement, after the axis feeding certain distance of two positioning devices, obtains master One group of position coordinates P of dynamic positioning device speculum11And P12, one group of position coordinates P of driven positioning device speculum21And P22, And calculate the practical attitude vectors N in two positioning device ends1And N2

Wherein, P11And P12It is the front and back actual end position of positive location machine spindle feeding, P respectively21And P22It is respectively Actual end position before and after driven positioning device axis feeding;N1It is the actual terminal angle vector of positive location equipment, N2It is The driven actual terminal angle vector of positioning device.

Step 9, two positioning device end attained pose vector pv are calculated1' and pv2':

pv1'=[P11 N1]

pv2'=[P21 N2]

Wherein, pv1' be positive location equipment actual end pose vector, pv2' be driven positioning device actual end Attitude vectors.

Step 10, each cube 8 nodes of grid in n grid in two positioning device collaborative workspace Q are set, Share i space lattice node.

Step 11, at space lattice node i, the theoretical relative pose of two positioning devices and practical relative pose are calculated, And calculate the difference of practical relative pose and theoretical relative pose:

Δpvi=pvi1-pvi2

Δpvi'=pvi1'-pvi2'

δi=Δ pvi'-Δpvi

Wherein, Δ pviIt is the theoretical relative pose of two positioning devices;Δpvi' be two positioning devices practical relative pose; δiIt is the difference of the practical relative pose and theoretical relative pose of two positioning devices.

Step 11, using the difference of the practical relative pose of two positioning devices and theoretical relative pose, space is formed with respect to position Appearance Error Grid E [δi]。

Step 12, it determines the shape function of corresponding grid cell, and selects suitable order;

The cube grid of 8 nodes as shown in Figure 3, the corresponding stepped function of one are:

Wherein, i is space lattice node;R, s, t are the 3-D walls and floor of local coordinate system in grid, the local coordinate system Schematic diagram is as shown in figure 3, the origin of local coordinate system is grid element center pointThe value of r, s, t is:

Wherein, x, y, z are the coordinates of arbitrary point in grid;A, b, c are grid cells in x, y, one of the length on the directions z Half;Then grid element center pointCoordinate value be:

The cube grid of 20 nodes as shown in Figure 4, it is corresponding secondly stepped function is:

Step 13, according to the shape function in step 12, the error amount of arbitrary point in grid cell is calculated:

Wherein, δ is the relative pose error amount of arbitrary point in the grid obtained by interpolation;δiIt is relative pose error at node Value;M is the interstitial content of each grid cell, the m=8 of single order cube grid, the m=20 of second order cube grid;

Step 14, shown in fig. 5 is normal grid cell and warp mesh cell schematics, to calculate warp mesh unit Arbitrary point in warp mesh unit is mapped to by mapping relationship f in normal grid cell by the error amount of middle arbitrary point, and It is indicated using local coordinate (r, s, t), then executes step 12 and step 13, mapping relationship f are:

Wherein, xi,yi,ziIt is coordinate of the Local grid node in global coordinate system.

Step 15, the articulation amount that driven positioning device is calculated using the inverse kinematic algorithm of driven positioning device is compensated Amount;

Δq2=Inv (δ)

Wherein, δ is the relative pose error amount of space arbitrary point;Inv () is that the inverse kinematic of driven positioning device is calculated Method;Δq2It is the articulation amount compensation rate of driven positioning device;

Step 16, increase the articulation amount compensation rate of driven positioning device in the controls, realize to two positioning devices sky Between relative pose error compensation:

q2'=q2+Δq2

Wherein, q2It is the articulation amount before driven positioning device error compensation, i.e., according to target pose pv2Carry out inverse kinematic The articulation amount of gained;q2' it is that driven positioning device carries out the articulation amount after error compensation.

Step 17, according to the target end pose pv of positive location equipment1Calculate the articulation amount q of positive location equipment1, and By articulation amount q1With articulation amount q2It is input to the horizontal automatic drill riveter control system of aircraft target ship, it is horizontal automatic to obtain aircraft target ship End pose after the error compensation of two positioning device of boring and riveting machine.

Compared to the horizontal automatic drill riveter of aircraft target ship of no space relative pose error compensation, space of the invention is opposite The horizontal automatic Drilling/Riveting mechanism hole precision of aircraft target ship after position and attitude error compensation method adjustment improves 50%, which greatly enhances The brill riveting quality of aircraft target ship, and then final assembly quality and pneumatic profile nature are improved, finally extend its service life.

Technical scheme of the present invention and advantageous effect is described in detail in above-described specific implementation mode, Ying Li Solution is not intended to restrict the invention the foregoing is merely presently most preferred embodiment of the invention, all principle models in the present invention Interior done any modification, supplementary, and equivalent replacement etc. are enclosed, should all be included in the protection scope of the present invention.

Claims (6)

1. a kind of aircraft target ship horizontal automatic drill riveter space relative pose error compensating method, includes the following steps:
(1) in the horizontal automatic drill riveter system of aircraft target ship, the base of positive location equipment and driven positioning device is established respectively Coordinate system, each kinematic axis subcoordinate system and end TCP coordinate systems, establish workpiece coordinate system, assembling coordinate system, and draw coordinate System's definition figure;
(2) kinematics analysis is carried out to the horizontal automatic drill riveter of aircraft target ship, establishes kinematics model, and analyze positive location and set The standby collaborative workspace with driven positioning device carries out mesh generation to collaborative workspace;
(3) in two positioning devices of the horizontal automatic drill riveter of aircraft target ship, laser tracker measurement speculum is installed respectively; And laser tracker is placed on the position for the motion range that can cover two positioning devices;
(4) two positioning devices controlled in the horizontal automatic drill riveter of aircraft target ship move to the designated space position at grid node Appearance obtains a series of position coordinates of two positioning device upper reflectors, and it is fixed to calculate two by the tracking measurement of laser tracker Position equipment actual end pose;
(5) difference for calculating the practical relative pose of two positioning devices and theoretical relative pose at each space lattice node is formed empty Between relative pose Error Grid, and utilize the error amount of arbitrary point in interpolation calculation grid cell;
(6) according to the master-slave relationship of two positioning devices in the horizontal automatic drill riveter of aircraft target ship, using the driven positioning device of adjustment The method of articulation amount carries out two positioning device space relative pose error compensations.
2. aircraft target ship horizontal automatic drill riveter space relative pose error compensating method according to claim 1, feature It is:The step (1) is as follows:
(1-1) defines each coordinate system in the horizontal automatic drill riveter of aircraft target ship:The basis coordinates system O of positioning devicej, each kinematic axis Subcoordinate system Xj、Zj、Yj、Aj、Bj, end TCP coordinate systems tj, workpiece coordinate system OwAnd assembling coordinate system R;Draw aircraft wall The coordinate system definition figure of the horizontal automatic drill riveter of plate, makes the change in coordinate axis direction and positioning device basis coordinates of each kinematic axis subcoordinate system The change in coordinate axis direction of system is consistent;
Wherein, subscript j values are expressed as positive location equipment for 1 or 2,1, and 2 are expressed as driven positioning device;
The basis coordinates system initial point of positioning device in the horizontal automatic drill riveter system of aircraft target ship is expressed as o by (1-2)j, positioning device End pose is with vectorial pvj=[pxj,pyj,pzj,wxj,wyj,wzj] indicate;
Wherein, [pxj,pyj,pzj] indicate positioning device end TCP coordinate systems tjOrigin in its basis coordinates system OjUnder position sit Mark, [wxj,wyj,wzj] indicate positioning device end TCP coordinate systems tjZ axis attitude vectors.
3. aircraft target ship horizontal automatic drill riveter space relative pose error compensating method according to claim 1, feature It is:The step (2) is as follows:
(2-1) carries out kinematics analysis to the horizontal automatic drill riveter of aircraft target ship, and establishes positive location equipment and driven positioning The kinematics model of equipment:
Wherein,It is the homogeneous transform matrix from coordinate system M to coordinate system N, T1It is positive location equipment from basis coordinates system O1It arrives End TCP coordinate systems t1Homogeneous transform matrix;T2It is driven positioning device from basis coordinates system O2To end TCP coordinate systems t2's Homogeneous transform matrix;
The kinematics model T of (2-2) according to positioning devicej, basis coordinates system OjWith the transformational relation of assembling coordinate system R, assembly is sat The end pose of two positioning devices is described as under mark system R:
Wherein,RT1It is the end TCP coordinate systems t from assembling coordinate system R to positive location equipment1Homogeneous transform matrix;RT2It is End TCP coordinate systems t from assembling coordinate system R to driven positioning device2Homogeneous transform matrix;
The end pose restriction relation of (2-3) based on kinematics model and two positioning devices, the horizontal automatic drill of analysis of aircraft siding The collaborative workspace Q of two positioning devices in riveter, and knot is analyzed to the deformation induced by gravity in collaborative workspace according to finite element Fruit carries out adaptive meshing algorithm to collaborative workspace Q, using cube grid, lattice number n.
4. aircraft target ship horizontal automatic drill riveter space relative pose error compensating method according to claim 1, feature It is:The step (4) is as follows:
(4-1) controls positive location equipment moving at grid node, object pose pv1, driven positioning device also moves to Corresponding pose pv2, theoretically meet pose constraint:pv1=pv2
(4-2) laser tracker carries out tracking measurement, after the axis feeding certain distance of two positioning devices, obtains positive location One group of position coordinates P of equipment speculum11And P12, one group of position coordinates P of driven positioning device speculum21And P22, and calculate The practical attitude vectors N in two positioning device ends1And N2
Wherein, P11And P12It is the front and back actual end position of positive location machine spindle feeding, P respectively21And P22It is driven respectively Actual end position before and after positioning device axis feeding;N1It is the actual terminal angle vector of positive location equipment, N2It is driven The actual terminal angle vector of positioning device;
(4-3) calculates two positioning device end attained pose vector pv1' and pv2':
pv1'=[P11 N1]
pv2'=[P21 N2]
Wherein, pv1' be positive location equipment actual end pose vector, pv2' be driven positioning device actual end posture Vector.
5. aircraft target ship horizontal automatic drill riveter space relative pose error compensating method according to claim 1, feature It is:The step (5) is as follows:
(5-1) sets each cube 8 nodes of grid in n grid in two positioning device collaborative workspace Q, shares i A space lattice node;
(5-2) calculates the theoretical relative pose of two positioning devices and practical relative pose, and calculate at space lattice node i The difference of practical relative pose and theoretical relative pose:
Δpvi=pvi1-pvi2
Δpvi'=pvi1'-pvi2'
δi=Δ pvi'-Δpvi
Wherein, Δ pviIt is the theoretical relative pose of two positioning devices;Δpvi' be two positioning devices practical relative pose;δiIt is The difference of the practical relative pose of two positioning devices and theoretical relative pose;
(5-3) forms space relative pose error using the difference of the practical relative pose and theoretical relative pose of two positioning devices Grid E [δi];
(5-4) determines the shape function of corresponding grid cell, and selects suitable order;
The cube grid of 8 nodes, the corresponding stepped function of one are:
Wherein, i is space lattice node;R, s, t are the 3-D walls and floor of local coordinate system in grid, the original of the local coordinate system Point is grid element center pointThe value of r, s, t is:
Wherein, x, y, z are the coordinates of arbitrary point in grid;A, b, c are grid cells in x, y, the half of the length on the directions z; Then grid element center pointCoordinate value be:
The cube grid of 20 nodes, it is corresponding secondly stepped function is:
(5-5) calculates the error amount of arbitrary point in grid cell according to the shape function in step (5-4):
Wherein, δ is the relative pose error amount of arbitrary point in the grid obtained by interpolation;δiIt is relative pose error amount at node;m It is the interstitial content of each grid cell, the m=8 of single order cube grid, the m=20 of second order cube grid;
Arbitrary point in warp mesh unit is mapped to by mapping relationship f in normal grid cell by (5-6), and using part Coordinate (r, s, t) indicates, then executes step (5-4) and step (5-5), mapping relationship f are:
Wherein, xi,yi,ziIt is coordinate of the Local grid node in global coordinate system.
6. aircraft target ship horizontal automatic drill riveter space relative pose error compensating method according to claim 1, feature It is:The step (6) is as follows:
(6-1) calculates the articulation amount compensation rate of driven positioning device using the inverse kinematic algorithm of driven positioning device;
Δq2=Inv (δ)
Wherein, δ is the relative pose error amount of space arbitrary point;Inv () is the inverse kinematic algorithm of driven positioning device;Δ q2It is the articulation amount compensation rate of driven positioning device;
(6-2) increases the articulation amount compensation rate of driven positioning device in the controls, realizes opposite to two positioning device spaces The compensation of position and attitude error:
q2'=q2+Δq2
Wherein, q2It is the articulation amount before driven positioning device error compensation, i.e., according to target pose pv2It carries out obtained by inverse kinematic Articulation amount;q2' it is that driven positioning device carries out the articulation amount after error compensation.
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CN102519441B (en) * 2011-12-06 2013-12-18 南京航空航天大学 Method for measuring positioning points based on laser tracker in docking process of airplane parts
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CN105678023B (en) * 2016-02-24 2019-06-18 浙江大学 A kind of kinematic parameter discrimination method of the horizontal automatic drill riveter of aircraft target ship
CN105698678B (en) * 2016-02-24 2018-09-28 浙江大学 A kind of basis coordinates system scaling method of the horizontal automatic drill riveter of aircraft target ship
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CN105643278B (en) * 2016-02-29 2018-07-24 浙江大学 A kind of horizontal automatic Drilling/Riveting lathe for aircraft target ship assembly

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