东北大学学报（自然科学版）

东北大学学报:自然科学版 ›› 2018, Vol. 39 ›› Issue (12): 1748-1753.DOI: 10.12068/j.issn.1005-3026.2018.12.015

• 机械工程 • 上一篇    下一篇

大型筒体-尾喷管位姿建模与精确装配方法

黄磊， 侯增选   

  1. (大连理工大学 机械工程学院， 辽宁 大连116024)
  • 收稿日期:2017-09-04 修回日期:2017-09-04 出版日期:2018-12-15 发布日期:2018-12-19
  • 通讯作者: 黄磊
  • 作者简介:黄磊(1985-)，男，湖北襄阳人，大连理工大学博士研究生； 侯增选(1964-)，男，陕西岐山人，大连理工大学教授，博士生导师.冯明杰(1971-)， 男， 河南禹州人， 东北大学副教授; 王恩刚(1962-)， 男， 辽宁沈阳人， 东北大学教授，博士生导师.
  • 基金资助:
    国家自然科学基金资助项目(51171041).国家自然科学基金资助项目(51175058).

Research on Pose Modeling and Precise Assembly Method for Large Cylinder-Tail Nozzles

HUANG Lei， HOU Zeng-xuan   

  1. School of Mechanical Engineering， Dalian University of Technology， Dalian 116024， China.
  • Received:2017-09-04 Revised:2017-09-04 Online:2018-12-15 Published:2018-12-19
  • Contact: HUANG Lei
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摘要： 针对大型筒体-尾喷管对接装配的现场特点及安全性要求，为提高其装配精度及效率，提出一种基于关键位姿矢量及LD－PSD多参量在线检测反馈的精确装配新方法.利用跟踪仪获取标定块上标记点的实际坐标，依据其理论坐标和实测坐标的偏差建立最小二乘矩阵模型， 利用SVD法实现测量坐标系与全局坐标系空间配准.跟踪仪获取喷管、筒体关键点坐标，利用最小二乘及霍夫变换建立喷管、筒体当前位姿模型.研制六自由度装配设备，基于位姿矢量反解喷管位姿调整参量，完成姿态预调整.启动LD－PSD在线反馈系统，规划微调整路径，对喷管位姿多次纠偏以满足给定装配精度要求.在某动力厂的试验表明:装配过程平稳、高效，实现了筒体-尾喷管的精准对接.

关键词: 机械臂, 激光跟踪仪, 关键姿态矢量, 最小二乘法, 闭环校准

Abstract: According to the setting and safety of docking assembly for large cylinder-tail nozzles， a new method for precise docking assembly is proposed based on LD-PSD to improve the assembly accuracy and efficiency. First， the calibration block marker coordinates are obtained by using laser trackers， and the least square model is established according to the deviation between theoretical coordinate and the measured coordinate of the mark point. Precise spatial registration is implemented between measured coordinate and global coordinate by using singular value decomposition(SVD). Then， the tracking instrument is used to obtain the coordinate of the key point of the nozzle and cylinder. The mathematical model of the current position of nozzle cylinder is established using the least squares and HSF. 6-DOF CNC equipment is developed， and taking the posture of the cylinder as a reference， posture preconditioning is done by the anti-solution of nozzle pose parameters. The online feedback system is launched to detect the pre-assembly error. By planning micro rotation and micro translational path， the position of the nozzle is corrected several times to meet the requirement of a given assembly accuracy. The test results in a power plant show that the assembly process is smooth and efficient， and it can realize the precise docking assembly of large cylinder-tail nozzles.

Key words: mechanical arm, laser tracker, key pose vector, least square method, closed loop calibration

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