An on-line compensation method of a metrology-integrated robot system for high-precision assembly

Jiang, Yifan; Huang, Xiang; Li, Shuanggao

doi:10.1108/ir-03-2016-0091

Cited by 18 publications

(9 citation statements)

References 15 publications

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“…represent the coordinates of BJCi in the BCS system, and let R g b and I g b represent the posture matrix and position vector of the BCS relative to the GCS, respectively. According to the principle of coordinate transformation (Jiang et al, 2016), the coordinates of BJC in the GCS can also be expressed as follows: . Generally, when the displacement of each axis of the NCL is 0, the position of the BJC is the origin of the LCS, that is, the displacement of each axis of the NCL is equal to the coordinates of the BJC in the LCS.…”

Section: Kinematic Model Of Posture Adjustment Mechanismmentioning

confidence: 99%

A calibration method of redundant actuated parallel mechanism for posture adjustment

Chu

Huang

2021

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Purpose With the improvement of modern aircraft requirements for safety, long life and economy, higher quality aircraft assembly is needed. However, due to the manufacturing and assembly errors of the posture adjustment mechanism (PAM) used in the digital assembly of aircraft large component (ALC), the posture alignment accuracy of ALC is difficult to be guaranteed, and the posture adjustment stress is easy to be generated. Aiming at these problems, this paper aims to propose a calibration method of redundant actuated parallel mechanism (RAPM) for posture adjustment. Design/methodology/approach First, the kinematics model of the PAM is established, and the influence of the coupling relationship between the axes of the numerical control locators (NCL) is analyzed. Second, the calibration method based on force closed-loop feedback is used to calibrate each branch chain (BC) of the PAM, and the solution of kinematic parameters is optimized by Random Sample Consensus (RANSAC). Third, the uncertainty of kinematic calibration is analyzed by Monte Carlo method. Finally, a simulated posture adjustment system was built to calibrate the kinematics parameters of PAM, and the posture adjustment experiment was carried out according to the calibration results. Findings The experiment results show that the proposed calibration method can significantly improve the posture adjustment accuracy and greatly reduce the posture adjustment stress. Originality/value In this paper, a calibration method based on force feedback is proposed to avoid the deformation of NCL and bracket caused by redundant driving during the calibration process, and RANSAC method is used to reduce the influence of large random error on the calibration accuracy.

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Section: Kinematic Model Of Posture Adjustment Mechanismmentioning

confidence: 99%

A calibration method of redundant actuated parallel mechanism for posture adjustment

Chu

Huang

2021

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“…The method is applied to a pick-and-place scenario using an industrial robot. Online error compensation is a further possibility, which uses servoing techniques (most commonly visual servoing) to improve accuracy (Jiang et al, 2016).…”

Section: Introductionmentioning

confidence: 99%

“…Other papers propose non-parametric approaches, where the robot kinematic parameters are not modified during the calibration, instead the modification is made in the controller command (Cai et al, 2018;Cao et al, 2019;Patel et al, 2019). Online error compensation is a further possibility, which utilizes servoing techniques to improve accuracy (Jiang et al, 2016).…”

Section: Introductionmentioning

confidence: 99%

A novel, low-cost technique for modelless calibration of a 3-axis parallel kinematic machine

Tipary

Erdős

2021

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Purpose The purpose of this paper is to propose a novel measurement technique and a modelless calibration method for improving the positioning accuracy of a three-axis parallel kinematic machine (PKM). The aim is to present a low-cost calibration alternative, for small and medium-sized enterprises, as well as educational and research teams, with no expensive measuring devices at their disposal. Design/methodology/approach Using a chessboard pattern on a ground-truth plane, a digital indicator, a two-dimensional eye-in-hand camera and a laser pointer, positioning errors are explored in the machine workspace. With the help of these measurements, interpolation functions are set up per direction, resulting in an interpolation vector function to compensate the volumetric errors in the workspace. Findings Based on the proof-of-concept system for the linear-delta PKM, it is shown that using the proposed measurement technique and modelless calibration method, positioning accuracy is significantly improved using simple setups. Originality/value In the proposed method, a combination of low-cost devices is applied to improve the three-dimensional positioning accuracy of a PKM. By using the presented tools, the parametric kinematic model is not required; furthermore, the calibration setup is simple, there is no need for hand–eye calibration and special fixturing in the machine workspace.

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“…The physical portion refers to the assembly objects, automatic tooling, sensors, measuring equipment and all other physical devices. There have been a lot of relative works about digital assembly system for aircraft components (Deng et al , 2018a, 2018b; Jiang et al , 2016). The virtual portion is regarded as the digital copy of the physical system.…”

Section: Introductionmentioning

confidence: 99%

A coordination modelling approach for assembly of multi-constrained objects based on measured skin model

Jiang

Huang

et al. 2019

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Purpose The purpose of this paper is to propose an assembly coordination modelling approach based on measured data for assembly quality control of multi-constrained objects in aircraft assembly. This approach aims to establish a high-precision digital mirror of physical assembly system in the virtual environment, with which the assembly process in the virtual environment can be performed synchronously with that in the physical world. Design/methodology/approach This paper presents a realistic geometrical representation model based on measured point cloud, as well as the multiple constraints modelling methods for local and global constraints with the proposed representation model. For the assembly target optimization, a novel optimization method based on the evaluation of multi-dimensional tolerance zone is proposed, where the particle swarm optimization and simulated annealing algorithm are combined to calculate the optimal solutions. Findings As shown in the validation results, the minimum easiness value for easiness model in global optimization is 3.01, while the best value for weighting model by adjusting weights for more than 10 times is 1.94. The results verify that the proposed coordination modelling approach is effective to the assembly of multi-constrained objects, and the optimization model has an obvious advantage over the traditional weighting method. Originality/value This paper provides a new idea for the fine control of assembly quality of non-ideal components by introducing the measured data into the on-line assembly process. Besides, a novel optimization method based on the evaluation of multi-dimensional tolerance zone is proposed, which overcomes the problem of traditional weighting model wherein the weightings are difficult to determine.

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An on-line compensation method of a metrology-integrated robot system for high-precision assembly

Cited by 18 publications

References 15 publications

A calibration method of redundant actuated parallel mechanism for posture adjustment

A calibration method of redundant actuated parallel mechanism for posture adjustment

A novel, low-cost technique for modelless calibration of a 3-axis parallel kinematic machine

A coordination modelling approach for assembly of multi-constrained objects based on measured skin model

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