Intelligent Surface-normal Adjustment System and Application in Aeronautical Drilling Robot

摘要：

Aeronautical drilling robot has been widely adopted in aircraft manufacturing with its high efficiency and reliability. Automatic drilling, however, requires the drill bit to be perpendicular to the curved surface of fuselage. In this paper, we present an intelligent surface-normal adjustment system to deal with the problem. This system calculates surface-normal vector by obtaining three measurement positions with laser range sensors and provides correction values to an innovative binary angular adjustment mechanism to regulate the feed direction of the drilling bit in real-time. We carried out a number of experiments on the aeronautical drilling robot. The experimental results demonstrate that this system can decrease the surface-normal error to less than ±0.5°and well meet the demand of modern aircraft manufacturing.

关键词： Aeronautical Drilling Robot Laser range sensor Surface-normal Adjustment

作者: Rui Zhang Peijiang Yuan Maozhen Gong

作者单位: School of Mechanical Engineering and Automation Beihang University, Beijing, 100191, China School of Mechanical Engineering and AutomationBeihang University, Beijing, 100191, China

会议类型: 国际会议

会议名称: 2012 International Conference on Intelligent System Design and Engineering Applications(2012年智能系统设计与工程应用国际会议 ISDEA 2012)

会议地点: 三亚

会议语种:英文

页码: 696-699

在线出版日期: 2012-01-06（万方平台首次上网日期，不代表论文的发表时间）