| With the continuous promotion of the domestic large aircraft C919 project,the lightweight automated assembly system,represented by the lightweight autonomous mobile robot drilling system,has become one of the research hotspots in the field of aviation manufacturing.In order to realize the automatic and accurate assembly of the lightweight autonomous mobile robot drilling system,on the basis of analyzing the process requirements of the connecting holes of aircraft products,combined with the robot’s own structural characteristics and processing methods,key technologies of off-line planning of robot machining tasks,self-adaptive walking of complex surfaces and on-line adaptive positioning and attitude determination are deeply studied in this paper.The main contents of this paper are as follows:(1)The working principle of the lightweight autonomous mobile robot drilling system was expounded,and on the basis of analyzing the process requirements of the connecting hole of aircraft products,the difficulties and key technical requirements of robotic machining tasks were summarized.The overall scheme of off-line planning of robot machining tasks and on-line adaptive control was developed.(2)The method of robot processing station planning under multiple constraints was analyzed,and the corresponding automatic substation planning algorithm was developed.Aiming at the processing trajectory planning of robot,robot crawling trajectory planning method based on event and trajectory planning of end-effector based on process constraints were proposed.(3)The adaptive walking control of complex curved surface based on motor load torque feedback was studied.The method of robot location recognition based on vision detection and the method of vision system calibration were determined,and according to different datum characteristic forms,the corresponding algorithm of robot position detection was developed.An on-line adaptive adjustment scheme of robot’s attitude was proposed.(4)The experimental verification platform was constructed,and the off-line programming system and the adaptive control strategy were verified.The experimental results show that off-line planning method for robotic machining tasks and online adaptive control strategy proposed in this paper are effective and feasible,which can meet the requirements of automatic and precise assembly of lightweight autonomous mobile robot drilling system. |
