摘要
对基于三坐标定位器的大部件数字化柔性装配系统,建立系统运动控制所需的装配坐标系、动坐标系和POGO柱坐标系,并在此基础上分析了其正反解算法。根据大部件对接的高精度要求,用全微分的方法建立各结构误差与对接部件位姿误差之间的误差正解模型,提出了一种基于工作空间的位姿补偿方法。最后,建立带有误差源的正解模型,以实例计算验证了误差正解模型和补偿方法的正确性。
The coordinate systems for analyzing the aircraft digital assembly system are designed. The forward and inverse solutions are analyzed. For the high precision ,with differential calculus, a posture error model in relation to the structural errors is established. Then an compensatory method for precision is proposed based on the whole workspace. At last ,both the error model and the compensatory method are confirmed by the accurate forward solution with given structure errors.
出处
《航空制造技术》
2011年第22期112-115,共4页
Aeronautical Manufacturing Technology
关键词
数字化装配
控制算法
误差模型
误差补偿
Digital assembly
Control algorithm
Error model
Error compensation
