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Normal vector detection and posture-adjusting movement method of autonomous moving mechanism

A technology of autonomous movement and attitude adjustment, which is applied in metal processing and other directions, and can solve the problems of difficult positioning and movement of the eight-legged autonomous movement mechanism

Active Publication Date: 2013-12-18
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0005] The purpose of the present invention is to solve the problem that the positioning and movement of the existing eight-legged autonomous moving mechanism are difficult, and to invent a method for detecting the normal vector of the autonomous moving mechanism and adjusting the posture by means of a laser rangefinder

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  • Normal vector detection and posture-adjusting movement method of autonomous moving mechanism
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  • Normal vector detection and posture-adjusting movement method of autonomous moving mechanism

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Embodiment Construction

[0078] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0079] As shown in Figure 1-5.

[0080] A method for normal vector detection and posture adjustment of an autonomous mobile mechanism, comprising the following steps:

[0081] First, three or four laser ranging sensors are installed on the end effector of the autonomous mobile mechanism;

[0082] Secondly, use the values ​​measured by three or four laser ranging sensors to obtain the measured hole plane normal vector n;

[0083] Third, according to the normal vector n of the hole-making plane obtained from the above-mentioned measurement and calculation, the driving force of each leg of the autonomous moving mechanism to the normal vector of hole-making is obtained through the inverse solution algorithm of the attitude-adjusting motion, which is used for the control system to realize the attitude-adjusting motion;

[0084] Finally, according to the ab...

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Abstract

Disclosed is a normal vector detection and posture-adjusting movement method of an autonomous moving mechanism. The method is characterized by including the following steps: firstly, mounting three or four laser ranging sensors on a tail end executor of the autonomous moving mechanism; secondly, acquiring a normal vector n of a measured drilling plane by utilizing values measured by the laser ranging sensors; thirdly, according to the normal vector n, of the drilling plane, acquired by measuring and calculating, and through a posture-adjusting movement inverse solution algorithm, acquiring driving quantity of each leg when the autonomous moving mechanism reaches a drilling normal vector, wherein the driving quantity is used for controlling a system to realize posture-adjusting movement; finally, according to the normal vector n, of the drilling plane, acquired by measuring and calculating, and through the posture-adjusting movement inverse solution algorithm, acquiring deviation quantity of a tool when the autonomous moving mechanism reaches the drilling normal vector, wherein the deviation quantity is used for controlling the system to realize tool deviation correction. The normal vector detection and posture-adjusting movement method is simple, easy to control, high in controlling accuracy and high in efficiency and speed.

Description

technical field [0001] The invention relates to an autonomous mobile mechanism for aircraft assembly, in particular to a method for normal vector detection, normal vector attitude adjustment and tool compensation of the autonomous mobile mechanism in the aircraft assembly process, specifically a method for normal vector detection and tool compensation of the autonomous mobile mechanism Posture adjustment method. Background technique [0002] At present, the main connection method used in aircraft structure is mechanical connection. There are about 1.5 million to 2 million rivets and bolts on a large aircraft. In order to meet the high life requirements of modern aircraft, the safety and reliability of mechanical connection must be ensured first. . In recent years, in order to ensure the quality of aircraft assembly, improve the fatigue life of the airframe, and achieve low cost and high efficiency in mass production, automation has been widely used in the assembly process o...

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Application Information

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IPC IPC(8): B23Q9/00
Inventor 王珉张得礼鲍益东王谢苗丁力平陈文亮侯玉昭
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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