个人信息
黄翔
招生学科专业:
机械工程 -- 【招收博士、硕士研究生】 -- 机电学院
航空宇航科学与技术 -- 【招收博士、硕士研究生】 -- 机电学院
机械 -- 【招收博士、硕士研究生】 -- 机电学院
联系方式:17749500871;13851538871 学位:工学博士学位

个人信息 Personal information

学历:南京航空航天大学 毕业院校:南京航空航天大学 所在单位:机电学院 办公地点:机电学院15-405 电子邮箱:

On-line calibration and uncertainties evaluation of spherical joint positions on large aircraft component for zero-clearance posture alignment

点击次数: 所属单位:机电学院 发表刊物:Rob Comput Integr Manuf 摘要:With the improvement of performance requirements for modern aircraft, such as speed and leak tightness, the posture alignment of large components without clearance is now extremely required in the aircraft industry. Nevertheless, the inherent errors of both the components themselves and the posture alignment system lead to high risk of collision during the inserting stage, among which the positional errors of spherical joints that connecting the large component to the numerical controlled locators are identified as the primary error source by existing studies. In this paper, a novel method for on-line correction and uncertainties evaluation of the positions of spherical joint centers (SJCs) is presented. Firstly, the rough positions of SJCs are identified based on the nominal model, and the finite element analysis (FEA) method is applied to preliminarily compensate the self-weight deformation of the component. Secondly, the on-line correction model of SJCs is further established, majorly on the basis of the displacements of locators and the relative postures between the initial posture and the new posture after each motion. Thirdly, to improve the correction accuracy, a new relative posture evaluation model considering the anisotropic measurement uncertainties of key points is suggested and solved by particle swarm optimization, and the correction uncertainties are then analyzed using Monte Carlo simulation. According to the numerical experiments, the proposed relative posture evaluation method has demonstrated more robustness evaluation results than the conventional approaches, and also leads to lower correction uncertainties of SJCs. Moreover, since the relative posture evaluation is a common problem in robot calibration, it also provides a promising alternative or supplement for the conventional optimal posture selection method to improve calibration accuracy. The practical application for a wing to fuselage assembly has verified the effectiveness of the correction method, in which the largest positional error of SJCs has decreased from about 14.2 mm to less than 0.4 mm after correction, and the displacement calculation error has been accordingly reduced from 0.1 mm to smaller than 0.01 mm. Therefore, the security of posture adjustment in confined clearance has been largely enhanced. © 2018 Elsevier Ltd ISSN号:0736-5845 是否译文: 发表时间:2019-04-01 合写作者:Deng, Zhengping,Li, Shuanggao,Xing, Hongwen 通讯作者:黄翔