首页|A heuristic cabin-type component alignment method based on multi-source data fusion

A heuristic cabin-type component alignment method based on multi-source data fusion

扫码查看
原文链接
  • NETL
  • NSTL
  • 万方数据
  • 维普
In cabin-type component alignment, digital measurement technology is usually adopted to provide guidance for assembly. Depending on the system of measurement, the alignment process can be divided into measurement-assisted assembly (MAA) and force-driven assembly. In MAA, relative pose between components is directly measured to guide assembly, while in force-driven assembly, only contact state can be recognized according to measured six-dimensional force and torque (6D F/T) and the process is completed based on preset assembly strategy. Aiming to improve the efficiency of force-driven cabin-type component alignment, this paper proposed a heuristic alignment method based on multi-source data fusion. In this method, measured 6D F/T, pose data and geometric information of components are fused to calculate the relative pose between compo-nents and guide the movement of pose adjustment platform. Among these data types, pose data and measured 6D F/T are combined as data set. To collect the data sets needed for data fusion, dynamic gravity compensation method and hybrid motion control method are designed. Then the relative pose calculation method is elaborated, which transforms collected data sets into discrete geometric elements and calculates the relative poses based on the geometric information of components. Finally, experiments are conducted in simulation environment and the results show that the pro-posed alignment method is feasible and effective.

Alignment strategyForce-driven assemblyHeuristic alignment methodMulti-source data fusionRelative pose calculation

Hao YU、Fuzhou DU

展开 >

School of Mechanical Engineering and Automation, Beihang University, Beijing 100083, China

This study was co-supported by the Special Research on Civil Aircraft of Chinaand the Defense Industrial Technology Development Program of China

MJZ-2017-J-96 JCKY2016206B009.

2020

中国航空学报(英文版)
中国航空学会

中国航空学报(英文版)

CSTPCDCSCDSCIEI
影响因子：0.847
ISSN：1000-9361
年,卷(期)：2020.33(8)
  • 5