Calibration of robotic drilling systems with a moving rail

作     者：Tian Wei Zeng Yuanfan Zhou Wei Liao Wenhe 

作者机构：College of Mechanical and Electronical Engineering Nanjing University of Aeronautics and Astronautics 

出 版 物：《Chinese Journal of Aeronautics》 (中国航空学报（英文版）)

年 卷 期：2014年第27卷第6期

页      面：1598-1604页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0825[工学-航空宇航科学与技术] 0801[工学-力学（可授工学、理学学位）] 

基　　金：co-supported by the National Natural Science Foundation of China (No. 51475225) Aeronautical Science Foundation of China (No. 2013ZE52067) 

主　　题：Aircraft assembly Calibration Error compensation Robotic drilling Robotics 

摘      要：Industrial robots are widely used in aircraft assembly systems such as robotic drilling systems. It is necessary to expand a robot＇s working range with a moving rail. A method for improving the position accuracy of an automated assembly system with an industrial robot mounted on a moving rail is proposed. A multi-station method is used to control the robot in this study. The robot only works at stations which are certain positions defined on the moving rail. The calibration of the robot system is composed by the calibration of the robot and the calibration of the *** calibration of the robot is based on error similarity and inverse distance weighted *** calibration of the stations is based on a magnetic strip and a magnetic sensor. Validation tests were performed in this study, which showed that the accuracy of the robot system gained significant improvement using the proposed method. The absolute position errors were reduced by about 85%to less than 0.3 mm compared with the maximum nearly 2 mm before calibration.