基于位姿在线反馈调整的大型法兰对装.doc

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1、基于位姿在线反馈调整的大型法兰对装　　摘要：为解决工业结构中大型法兰对接装配存在的低精度、低效率等问题，提出一种基于姿态矢量及LD-PSD在线反馈的对装方法.首先，以关节臂测量机获取标定块测量点的实际坐标值，与理论坐标值对比形成拟合误差矩阵，以该矩阵2范数最小为优化目标，利用奇异值分解法建立全局坐标系与测量坐标系映射关系，并获取全局坐标系下待装配件若干点空间坐标，结合最小二乘法及随机霍夫变换建立待装配体当前位姿数学模型.设计六自由度位姿调整装置，以静法兰为目标位姿，依据关键姿态矢量信息解算动法兰位姿调整参量，实现

2、位姿预调整.LD-PSD在线反馈系统检测并反馈装配质量评价指标，规划微转动及微平动路径，对静法兰位姿多次纠偏以满足对接装配精度.试验结果表明：装配过程高效，装配精度高，能够实现法兰连接结构的精确对装.设计的LD-PSD在线反馈系统可实现位姿的调整、检测、反馈再调整的闭环装配操作.　　关键词：关节臂测量机；关键姿态矢量；LD-PSD；奇异值分解法；最小二乘法；随机霍夫变换　　中图分类号：TP23文献标志码：A　　AssemblageofLargeFlangeBasedonAttituedVectorandPosit

3、ionOnlineFeedback　　HOUZengxuan，YANGXiuwei，HUANGLei，XUJun　　　　Abstract：Inordertosolvetheproblemsoflowprecisionandlowefficiencyintheassemblageoflargeflange，anewmethodwasconsideredonthebasisofthekeyattitudevectorandLD-PSDonlinefeedbackfortheassemblageoflargeflang

4、e.Firstly，jointarmmeasuringmachinewasusedtomeasuretheactualcoordinatesofcalibrationblock，whichwascomparedwiththetheoreticalvaluestobuildfittingerrormatrix.Takingtheleast2-normoftheerrormatrixasoptimizationobjective，amappingrelationbetweentheglobalcoordinatesy

5、stemandmeasuringcoordinatesystemwithSVDwasthenestablished.Secondly，thespacecoordinatesofseveralpointsinthepartstobeassembledunderglobalcoordinatesystem，andthemathematicalmodelofthecurrentpositionofthepartsbythecombinationoftheleastsquareandRHTthekeyattitudeve

6、ctorinformationforthepositionandattitudeadjustmentparametersoftailnozzlewerecalculated.Lastly，theLD-PSDonlinecorrectionsystemdetectedandfeedbackedthequalityevaluationindexoftheassemblytoplanthemicromotionandrotationpathandadjustnozzlepositioninordertosatisfyt

7、heassemblyaccuracy.Accordingtotheresultsofexperiment，theassembleprocessthroughtheproposedmethodisstableandefficient，theassembleprecisionishigh，andthepreciseassembleofnozzleandcombustionchamberisrealized.LD-PSDsystemcanrealizeaclosed-loopoperationoftailnozzle，

8、suchasadjustment，detection，feedback，andreadjustment.　　Keywords：jointarmmeasuringmachine；keyattitudevector；LD-PSD；singularvaluedecompositionmethod；leastsquaremethod；randomHoughtransform　　法