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Zhang, Yilian
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A New Positioning Device Designed for Aircraft Automated Alignment System

Shanghai Jiao Tong University-Jie Huang, Long Yu, Yuhan Wang
Shanghai Top NC Tech Co Ltd-Yilian Zhang
Published 2019-09-16 by SAE International in United States
Accurate and fast positioning of large aircraft component is of great importance for Automated Alignment System. The Ball joint is a widely-used mechanical device connecting the aircraft component and positioners. However, there are some shortcomings for the device in man-machine engineering, such as the entry state of the ball-head still needs to be confirmed by the workers and then switched to the locking state manually. To solve above problems, a new positioning mechanism is present in this paper, which consists of a ball-head and a ball-socket. The new device is equipped with a monocular vision system, in which a calibrated industrial camera is used to collect the images of the ball-head. And then, the 3-D coordinate of the ball-head center is calculated by a designed algorithm, guiding the positioner to capture the ball-head. Once the ball-head gets into the ball-socket, the pneumatic system will drive the pistons to move to the specified location. Meanwhile, the amount of compression of a set of springs has changed, so the steel balls are compelled to compress, contact or…
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A High Reliable Automated Percussive Riveting System for Aircraft Assembly

Shanghai Jiao Tong University-Yunfei Fan, Long Yu, Qingzhen Bi, Yuhan Wang
Shanghai Top NC Tech Co. Ltd.-Yilian Zhang
Published 2019-03-19 by SAE International in United States
Percussive riveting is a widely used way of fastening in the field of aircraft assembly, which used to be done manually. Nowadays, replacing the traditional percussive riveting with automated percussive riveting becomes a trend worldwide, which improves the quality of riveting significantly. For the automated riveting system used in aircraft assembly, reliability is of great importance, deserving to be deeply researched and fully enhanced. In this paper, a high reliable automated percussive riveting system integrated into a dual robot drilling and riveting system is proposed. The riveting system consists of the hammer part and the bucking bar part. And both parts have been optimized to enhance the reliability. In the hammer side, proximity switches are fully used to detect the state of rivet insertion. In the bucking bar side, a reliable step height measurement system is integrated to measure the exposed shank length of the rivet before riveting and the upsetting head height after riveting. Meanwhile, a reliable method is proposed to calibrate the measurement system. By measuring the exposed shank length of the rivet…
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On-Line Non-Destructive Measurement for Interference-Fit Riveting Based on Force-Deformation Data Analysis

Shanghai Jiao Tong University-Yilian Zhang, Qingzhen Bi, Long Yu, Yuhan Wang
Wuhan University-Nuodi Huang
Published 2017-09-19 by SAE International in United States
Interference-fit riveting is a critical fastening technique in the field of aerospace assembly. The fatigue and sealing performance of the rivet joint are determined by the interference-fit level of the rivet joint. As a result, it is of great importance to measure the interference-fit level accurately and effectively. Conventional interference-fit level measurement methods can be divided into direct measurement (destructive test on test-piece) and indirect measurement (off-line dimensional measurement of upset rivet head). Both methods cannot be utilized in automatic riveting. In this paper, an on-line non-destructive measurement method is developed to measure the interference-fit level. By taking full advantage of servo-driving riveting integrated with force measurement, the force-deformation data of the deformed rivet can be obtained in real time. The recognized feature points from the force-deformation data can reflect the height of the upset rivet head. An algorithm to calculate the diameter of the upset rivet head based on the recorded maximum riveting force is developed. So as to obtain the volume of the upset rivet head. Thereafter, the volume of the rivet shank…
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A Novel Normal Measurement Method for Robotic Drilling and Countersinking

Shanghai Jiao Tong Univ-Yuhan Wang
Shanghai Jiao Tong University-Long Yu, Qingzhen Bi PhD, Yilian Zhang
Published 2017-09-19 by SAE International in United States
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…
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