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A micro-adjusting attitude mechanism for autonomous drilling robot end-effector

自主制空机器人末端执行器的微型调姿机构

  • Research Paper
  • Special Focus on Robot Sensing and Dexterous Operation
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Abstract

Drilling end-effector is a key unit in autonomous drilling robot. The perpendicularity of the hole has an important influence on the quality of airplane assembly. Aiming at the robot drilling perpendicularity, a micro-adjusting attitude mechanism and a surface normal measurement algorithm are proposed in this paper. In the mechanism, two rounded eccentric discs are used and the small one is embedded in the big one, which makes the drill’s point static when adjusting the drill’s attitude. Thus, removal of drill’s point position after adjusting the drill attitude can be avoided. Before the micro-adjusting progress, four non-coplanar points in space are used to determine a unique sphere. The normal at the drilling point is measured by four laser ranging sensors. The adjusting angles at which the motors should be rotated to adjust attitude can be calculated by using the deviation between the normal and the drill axis. Finally, the motors will drive the two eccentric discs to achieve micro-adjusting progress. Experiments on drilling robot system and the results demonstrate that the adjusting mechanism and the algorithm for surface normal measurement are effective with high accuracy and efficiency.

概要

创新点

(1)设计一种微型姿态调整机构, 实现对钻头姿态进行调整, 使其沿制孔点法线进行制孔, 提高孔的垂直度. 使得钻头调整前后, 钻头顶点保持不变, 提高制孔效率. (2)利用4个激光测距传感器, 根据空间不共面四点确定唯一球, 测得制孔点处的法线向量, 为钻头的姿态调整做准备.

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Authors and Affiliations

  1. Robotics Institute, Beihang University, Beijing, 100191, China

    PeiJiang Yuan, ZhenYun Shi, TianMiao Wang, ChengKun Wang & DongDong Chen

  2. Beijing Institute of Aerospace Control Devices, Beijing, 100854, China

    QiShen Wang

  3. Shanghai Aircraft Manufacturing Co. Ltd., Shanghai, 200436, China

    LiHeng Shen

Authors
  1. PeiJiang Yuan
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  2. QiShen Wang
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  3. ZhenYun Shi
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  4. TianMiao Wang
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  5. ChengKun Wang
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  6. DongDong Chen
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  7. LiHeng Shen
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Correspondence to PeiJiang Yuan.

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Yuan, P., Wang, Q., Shi, Z. et al. A micro-adjusting attitude mechanism for autonomous drilling robot end-effector. Sci. China Inf. Sci. 57, 1–12 (2014). https://doi.org/10.1007/s11432-014-5190-9

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  • DOI: https://doi.org/10.1007/s11432-014-5190-9

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