自主移动钻铆机器人的基准检测与修正方法

摘要

Autonomous mobile robot for drill-ing and riveting on aircraft surface is a kind of eight legged parallel robot that can adapt to the as-sembly of the fuselage.Because of the uncertainty of its initial position and the position deviation be-tween theoretical and practical positions owing to manufacturing processes,etc,it’s important to solve the problem of benchmark detection of the robot.For multi coordinate system and a variety of different benchmark forms,this paper proposes a method of coordinate transformation and refer-ence detection and correction,then solve the devia-tion across least square method or indirect conver-sion method.Finally,the robot is able to correct the position of the processing holes.Experiment shows,the method can be used to detect the hole and achieve the correction of deviation.%自主移动钻铆机器人是一种适应机身筒段对接装配的8足并联机器人，由于其存在初始位置的不确定性以及加工制造等引起的理论与实际位置偏差，因此需要解决机器人制孔的基准检测问题。针对多坐标系系统和多种不同的基准形式，提出坐标变换方法与基准检测与修正方法，通过坐标系的空间变换，分别采用最小二乘法与间接转换法求解理论位置与实际位置的偏差，从而对待加工孔进行位置修正。实验表明，该方法能够实现机器人制孔的基准检测，完成偏差修正。