کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
413906 680694 2007 15 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Adaptive robotic assembly of compliant aero-structure components
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Adaptive robotic assembly of compliant aero-structure components
چکیده انگلیسی

The application of robotics to the assembly of large aero-structures has been limited by the large size and inherent compliance of the components involved. The compliance of the components is significant and simple ‘pick and place’ approaches cannot be used due to the inherent dimensional variability between mating parts. The research described in this paper aims to solve this problem by using a non-contact sensing system to measure part deformation and misalignment in real time. The acquired data can then be processed through a mathematical algorithm to calculate the relative component positions required for optimal assembly. The data can also be used to check gross distortion of components and to reject those outside the specification limits. Existing part-to-part holes were used to provide alignment for individual components within the structure. A series of experiments were performed to investigate the feasibility of the method. Results are presented along with a discussion of the problems that may be encountered during robotic assembly. The experimental results show that robots when combined with non-contact metrology can be used for the assembly of compliant aero-structure components within required tolerance limits.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Computer-Integrated Manufacturing - Volume 23, Issue 2, April 2007, Pages 180–194
نویسندگان
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