Integrated Technology Of Aided Assembling For The Large Size Carbon Fiber Cabin Using Industrial Robot

In the assembling process of aerospace product about the cabin,a large number of manual work is needed to draw the mounted positions and the baselines of the bracket in the cabin surface.Due to the different shapes of the bracket,large numbers and decentralized layout of the mounted position and the difficulties in measuring the referenced designed dimension of the brackets,etc.These problems result in low efficiency,long assembly period,high labor intensity,and difficult guarantee for assembly quality.Simultaneously,in the traditional mode of production,the mounted positions without any technical guidance information easily lead to the brackets installed to the wrong direction and that will bring about serious consequences.In order to solve the above problems,this paper proposes an auxiliary assembling system which can meet multi-variety and different cabins by integrating industrial robotic flexible drawing unit,three-dimensional contour scanning,automatic high-precision turntable and controllable Coding equipment.The main works of the thesis include:(1)In order to ensure the absolute accuracy of the robot system,the kinematic calibration method of YASAKAWA's MOTOMAN-MH12 industrial robot was studied and realized,and its absolute positioning accuracy was improved by 86.91%.(2)In order to solve the problem of drawing efficiency of multiple brackets in complex cabin,it has been converted into Traveling Salesman Problem(TSP)and realized the method of path optimization about assembling processing identification points of the cabin based on TSP.Finally,it improved the overall operational efficiency.(3)The flexible complex assembling drawing system of the space shuttle cabin was developed,which integrated the three-dimensional designed model interface,the robot-based full-cabin threedimensional laser contour measurement,and the robot drawing units considering the contour deviations.The robot system,turntable system,measurement system and inkjet system have been integrated organically,and also completed the development of applied software of the system.According to the field test: the dimensional discrepancy between the cross point of the bracket's center line and the top face of the cabin is ± 0.453 mm,the central angle error between the cross point of the bracket's center line and cabin's reference bus is ±14??,the average width of the process line is 0.74 mm.These meet the actual technological requirements.