| MECHANICAL ENGINEERING |
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Aerial assembly measurement and control analysis method based on robot modeling |
| WANG Bin, ZHANG Jiwen, WU Dan |
| State Key Laboratory of Tribology in Advanced Equipment, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China |
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Abstract [Objective] To ensure successful assembly in the digital process of aviation aircraft, it is necessary to simulate the motion and measurement capabilities of the adjustment and measurement mechanisms, respectively, for flexible posture adjustment and high-precision target point measurement. However, commonly used simulation platforms in the aviation field, such as DELMIA, CATIA, and SA, cannot achieve comprehensive simulation that combines location planning, motion control evaluation, and measurement field analysis of the equipment. To achieve a comprehensive simulation of aviation assembly digital measurement and control under a uniform system, a simulation analysis method for aviation assembly measurement and control based on robot modeling was proposed. [Methods] The proposed method first models essential elements, such as components and tooling, motion adjustment mechanisms, measurement mechanisms, and environmental interference objects, in a digital assembly environment into different robots in a robot simulation platform and subsequently compiles control programs according to assembly requirements to enable the system to control the joint motion of each robot to perform simulation analysis according to the requirements, complete the verification of measurement and control algorithms, and further set dynamic optimization issues for measuring and adjusting parameters where existing simulation platforms, such as measurement equipment stations, cannot easily emulate information for optimization. To better illustrate the specific implementation and practical effects of this method, the simulation analysis of the measurement accessibility of multiple laser trackers to a large number of measurement points under high occlusion environments and the simulation planning of the stations of multiple laser trackers are taken as examples, and the robot modeling method of the measurement mechanism, the construction method of the simulation system, the principle of the simulation laser measurement system, and the implementation method of station planning are described in detail. [Results] The proposed method is applied to location planning of laser trackers in aircraft measurement fields, where a total of 25 measurement points distributed on the surface of the aircraft need to be accurately measured by four laser trackers. Approximately 1 s is needed to achieve measurement accessibility analysis for a single measurement point, and 1 401.5 s is needed to determine the optimal combination location of four laser trackers, which are efficient and have excellent visibility compared with other methods based on modeling software. How the parameters (e.g., grid density) can affect planning efficiency is discussed by executing multiple simulations with different parameters, and the measurement robustness of the optimal combination location is verified by applying random perturbation errors to the base position of the four laser trackers. [Conclusions] A simulation analysis method for aviation assembly measurement and control based on robot modeling, which can achieve comprehensive simulation of planning, control, and measurement, is proposed. Based on this method, a detailed application case is proposed for the analysis of the measurement accessibility of multiple laser trackers in complex environments and the combined location planning of multiple laser trackers to achieve higher measurement accuracy. The feasibility of the proposed method is verified, and the method is simple, efficient, and can be quickly replanned when the environment changes.
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| Keywords
aviation digital assembly
measurement and control simulation method
laser tracker
measurement accessibility
station optimization
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Issue Date: 27 March 2024
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2024,
Vol. 64
