Research On Key Techniques Of High Precision Assembly Robot For Large-scale Components

With the development of industry and science and technology,modern industrial requirements for products quality and performance are increasingly high demand,especially for large-scale product industry,e.g.aerospace,ships,wind power generation equipment and etc.Due to the disadvantages of the traditional manual assembly method in accuracy,efficiency and safety,it is being replaced by automation assembly technique.However,because large-component is poor rigidity and have high accurate assembly demand,there are many issues need to be studied and solved for automotive assembly system.Aiming to solve the key problems and to overcome the shortages of robot automatic assembly technology,this paper conducts in-depth study of verification and application of several key technologies by integrating theoretical analysis and experimental study,meanwhile,establish an accurate robot automatic assembly system.The main research objectives and results are as following:(1)By means of the measured data from laser tracker and the ideal data of the datum points,the initial posture of datum component and moving component can be solved.Postures of these components can be expressed by rotation and translation matrixes.Furthermore,aiming to inspect the posture of the moving component,based the initial posture of the moving component,three points which can be measured during the assembly process are fixed on the moving component and ideal coordinates of these points can be obtained.(2)Based on measured data during the assembly process,the posture of the moving component can be controlled and adjusted.Through comparing the ideal posture and initial posture of the moving component,the transformation relationship matrix can be obtained and then,the adjustment parameters can be achieved by use of inverse kinematics.On this basis,the posture of the robot can be adjust on real-time according to the measured data from laser tracker to assure accuracy and safety in the assembly process.(3)In order to reduce the impact of the coordinate deviation of the datum points,the posture of large component is highly-accurate adjusted based on computer vision method.This method not only can avoid the collision interference problem,but also can assure the coaxially requirement of precision assembly.The theory and method mentioned above,as well as the hardware platforms,have the advantages in accuracy,bearing and automation to improve the satiety and robustness of automatic assembly.The results show that they are of great practicability and application prospects.