Presented in this paper is a framework for the implementation of a robotic percussive riveting system, a new robot application for aircraft assembly. It is shown here that a successful robot application to the automat...Presented in this paper is a framework for the implementation of a robotic percussive riveting system, a new robot application for aircraft assembly. It is shown here that a successful robot application to the automation of a process requires in-depth research of the process and the interaction with the robot. For this purpose, a process plan- ning-driven approach is proposed to guide a robot applica- tion research. A typical process planning will involve a list of key considerations including： process sequence, process parameters, process tooling, and process control. Through this list, a number of key research issues are identified for robotic percussive riveting, such as rivet pattern planning, rivet time determination, rivet tooling design and rivet insertion control. The detailed research on these issues has effectively created know-how for the successful implemen- tation of our robotic percussive riveting system.展开更多
A new seam-tracking method based on dynamic trajectory planning for a mobile welding robot is proposed in order to improve the response lag of the mobile robot and the high frequency oscillation in seam-tracking.By us...A new seam-tracking method based on dynamic trajectory planning for a mobile welding robot is proposed in order to improve the response lag of the mobile robot and the high frequency oscillation in seam-tracking.By using a front-placed laser-based vision sensor to dynamically extract the location of the weld seam in front of torch,the trend and direction of the weld line is roughly obtained.The robot system autonomously and dynamically performs trajectory planning based on the isometric approximation model.Arc sensor technology is applied to detect the offset during welding process in real time.The dynamic compensation of the weld path is done in combination with the control of the mobile robot and the executive body installed on it.Simulated and experimental results demonstrate that the method effectively increases the stability of welding speed and smoothness of the weld track,and hence the weld formation in curves and corners is improved.展开更多
文摘Presented in this paper is a framework for the implementation of a robotic percussive riveting system, a new robot application for aircraft assembly. It is shown here that a successful robot application to the automation of a process requires in-depth research of the process and the interaction with the robot. For this purpose, a process plan- ning-driven approach is proposed to guide a robot applica- tion research. A typical process planning will involve a list of key considerations including： process sequence, process parameters, process tooling, and process control. Through this list, a number of key research issues are identified for robotic percussive riveting, such as rivet pattern planning, rivet time determination, rivet tooling design and rivet insertion control. The detailed research on these issues has effectively created know-how for the successful implemen- tation of our robotic percussive riveting system.
基金supported by the National Natural Science Foundation of China(51605251)Tsinghua University Initiative Scientific Research Program(2014Z05093).
文摘A new seam-tracking method based on dynamic trajectory planning for a mobile welding robot is proposed in order to improve the response lag of the mobile robot and the high frequency oscillation in seam-tracking.By using a front-placed laser-based vision sensor to dynamically extract the location of the weld seam in front of torch,the trend and direction of the weld line is roughly obtained.The robot system autonomously and dynamically performs trajectory planning based on the isometric approximation model.Arc sensor technology is applied to detect the offset during welding process in real time.The dynamic compensation of the weld path is done in combination with the control of the mobile robot and the executive body installed on it.Simulated and experimental results demonstrate that the method effectively increases the stability of welding speed and smoothness of the weld track,and hence the weld formation in curves and corners is improved.
