An automated assembly technology for large mobile radar antenna

Peng, Gaoliang; Sun, Yu; Han, Rui; Li, Chuanhao

doi:10.1108/aa-12-2015-125

Cited by 8 publications

(6 citation statements)

References 19 publications

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“…Due to the excellent mechanical characteristics, such as high stiffness, good dexterity, and large ratio of load capacity to mass [1], the parallel mechanism which is composed of several platforms and several limbs, has been widely applied in many fields, such as ankle rehabilitation manipulator [2], motion simulation platform [3], welding robots [4] and automatic assembly equipment [5]. Among these applications, kinematic and dynamic analysis is the fundamental research of motion control, performance evaluation, and optimal design, so it is quite essential to obtain an accurate dynamic model for parallel mechanism.…”

Section: Introductionmentioning

confidence: 99%

Dynamic analysis of an over-constrained parallel mechanism with the principle of virtual work

Miao

Zhang

et al. 2021

Mathematical and Computer Modelling of Dynamical Systems

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This research presents the mathematical modelling of kinematic and complete dynamic analysis of a novel over-constrained parallel mechanism, which consists of two universal-prismatic-revolute joint limbs and one revolute-revolute-universal joint limb. The kinematic model is constructed based on the closed-loop vector method and the velocity Jacobian matrix is deduced, velocitymapping relationships between all moving components and moving platform are also performed. Afterwards, inertia and applied forces are analysed, the complete dynamic equations with the classical Stribeck friction model of the proposed structure is established based on the principle of virtual work. A theoretical numerical example is given to solve kinematics and dynamics solutions, and theoretical forces from developed dynamic formulation are verified by the physic model simulation in Simscape and the rigidflexible coupling model simulation in Adams. A good agreement between the theoretical results and multi-body software simulation is found.

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Section: Introductionmentioning

confidence: 99%

Dynamic analysis of an over-constrained parallel mechanism with the principle of virtual work

Miao

Zhang

et al. 2021

Mathematical and Computer Modelling of Dynamical Systems

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“…One can notice that the existence of measurement targets is not conducive to the implementation of automated processes [8], so numerous studies are carried out to explore how to avoid measurement targets or markers, which can be named as non-target approaches.…”

Section: Introductionmentioning

confidence: 99%

“…Among them, the point matching refers to a method of taking pictures of the same object through a binocular camera and calculating three-dimensional information by matching corresponding feature points on the two pictures acquired from cameras. Unfortunately, there are some uncertainties in the search process of matching point pairs, so the accuracy and robustness are poor in practical engineering [8]. In the second approach, geometric primitives such as lines, planes, and circles are extracted from the pictures acquired by cameras, and the pose can be estimated through the geometric relationship between the recognized geometric primitives and the object.…”

Section: Introductionmentioning

confidence: 99%

An Improved Robust Method for Pose Estimation of Cylindrical Parts with Interference Features

Zhang

Qiu

et al. 2019

Sensors

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Horizontal docking assembly is a fundamental process in the aerospace assembly, where intelligent measurement and adjustable support systems are urgently needed to achieve higher automation and precision. Thus, a laser scanning approach is employed to obtain the point cloud from a laser scanning sensor. And a method of section profile fitting is put forward to solve the pose parameters from the data cloud acquired by the laser scanning sensor. Firstly, the data is segmented into planar profiles by a series of parallel planes, and ellipse fitting is employed to estimate each center of the section profiles. Secondly, the pose of the part can be obtained through a spatial straight line fitting with these profile centers. However, there may be some interference features on the surface of the parts in the practical assembly process, which will cause negative effects to the measurement. Aiming at the interferences, a robust method improved from M-estimation and RANSAC is proposed to enhance the measurement robustness. The proportion of the inner points in a whole profile point set is set as a judgment criterion to validate each planar profile. Finally, a prototype is fabricated, a series of experiments have been conducted to verify the proposed method.

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“…The relative position accuracy (RPA), as one of the critical quality characters of large-scale assembly indicating whether the relative positions of components or parts conformance to the design specifications, should be strictly monitored in the assembly processes (Mas et al, 2013;Wu and Du, 2017;Peng et al, 2016).…”

Section: Introductionmentioning

confidence: 99%

An MBD based framework for relative position accuracy measurement in digital assembly of large-scale component

Duan

Shen

2019

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Purpose This paper aims to promote the integration of the relative position accuracy (RPA) measurement and evaluation in digital assembly process by adopting the model-based method. An integrated framework for RPA measurement is proposed based on a model-based definition (MBD) data set. The study also aims to promote the efficiency of inspection planning of RPA measurement by improving the reusability and configurability of the inspection planning. Design/methodology/approach The works have been carried out on three layers. In the data layer, an extended MBD data set is constructed to describe the objects and data for defining RPA measurement items; In definition layer, a model based and hierarchical structure for RPA item definition is constructed to support quick definition for RPA measurement items. In function layer, a toolset consisting three modules is constructed in a sequence from measurement planning to RPA value solving to visualized displaying again. Based on this framework, a prototype system is developed. Findings The paper provides an identified practice of model-based inspection. It suggests that MBD is valuable in promoting both the integration and efficiency of digital inspection. Research limitations/implications The templates and constructed geometry objects given in this paper are still limited in a scenario of aircraft assembly. The integrity and universality of them still need follow-up works. Practical implications The paper includes implications for the model based digital inspection, the digital assembly and the extended application of MBD. Originality/value This paper expands the application of MBD in inspection and fulfils the need to promote the integration and efficiency of digital inspection in large-scale component assembly.

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An automated assembly technology for large mobile radar antenna

Cited by 8 publications

References 19 publications

Dynamic analysis of an over-constrained parallel mechanism with the principle of virtual work

Dynamic analysis of an over-constrained parallel mechanism with the principle of virtual work

An Improved Robust Method for Pose Estimation of Cylindrical Parts with Interference Features

An MBD based framework for relative position accuracy measurement in digital assembly of large-scale component

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