This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
A Novel Normal Measurement Method for Robotic Drilling and Countersinking
Technical Paper
2017-01-2088
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Language:
English
Abstract
A novel normal measurement device for robotic drilling and countersinking has been developed. This device is mainly composed of three contact displacement sensors and a spherically compliant clamp pad. The compliance of the clamp pad allows it to be perpendicular to the part when the Multi-Function End Effector (MFEE) drives it to clamp the part surface prior to drilling, while the displacement sensors are used to measure the movement of the clamp pad relative to the MFEE. Once the sensors’ position is calibrated, the rotation angle of the clamp pad can be calculated by the displacement of the sensors. Then, the normal adjustment of MFEE is obtained, and the adjustment process can be achieved by the Rotation Tool Center Point (RTCP) function of robot. Thus, an innovative method based on laser tracker to identify the position of sensors is proposed. The datum plane for calibration can be measured by the laser tracker, and the least square plane fitting method is used to improve the precision. Meanwhile, the expression in terms of the sensors’ position can be established by measuring the calibrated datum using the normal measurement device. As there are two unknown parameters for each sensor’s position, the sensors can be calibrated by two unparallel datum planes. Through the experimental verification, the specially-designed normal measurement device with the proposed calibration method is able to perform the high-accuracy drilling and countersinking on parts with robotic drilling system.
Authors
Citation
Yu, L., Bi PhD, Q., Zhang, Y., and Wang, Y., "A Novel Normal Measurement Method for Robotic Drilling and Countersinking," SAE Technical Paper 2017-01-2088, 2017, https://doi.org/10.4271/2017-01-2088.Also In
References
- Holt , S. and Clauss , R. Robotic Drilling and Countersinking on Highly Curved Surfaces SAE Technical Paper 2015-01-2517 2015 10.4271/2015-01-2517
- Shi , Z. , Yuan , P. , Wang , Q. et al. An Experimental Analysis[J] Chinese Journal of Aeronautics 2016 29 4 1132 1141
- DeVlieg , R. Robotic Trailing Edge Flap Drilling System SAE Technical Paper 2009-01-3244 2009 10.4271/2009-01-3244
- Du , Z. and Yao , Y. Measurement Method for Evaluating Normal Direction of Surface for Digital Drilling and Riveting SAE Technical Paper 2012-01-1860 2012 10.4271/2012-01-1860
- Atkinson , J. , Hartmann , J. , Jones , S. , and Gleeson , P. Robotic Drilling System for 737 Aileron SAE Technical Paper 2007-01-3821 2007 10.4271/2007-01-3821
- Zhang , Y. , Bi , Q. , Yu , L. et al. Online adaptive measurement and adjustment for flexible part during high precision drilling process[J] International Journal of Advanced Manufacturing Technology 2016 1 21
- Yu L. , Zhang Y. , Bi Q. , Wang Y. Research on surface normal measurement and adjustment in aircraft assembly Precision Engineering 2017