In order to reduce production cost and increase productive efficiency, working positions of assembling robots need to be optimized to reduce the number of robots and the times of changing working positions. A hybrid optimization algorithm combining clustering algorithm and simulated annealing algorithm was proposed to optimize working positions of robots. Firstly, processing objects with common available working positions of robots were clustered by the clustering algorithm in order to reduce the scale of the problem. Then, a simulated annealing algorithm with multi-solution parallel search was employed to search for the minimum working positions of robots available for processing all objects. Testing results show that this algorithm is capable of improving optimization result significantly as well as accelerating the convergence of the algorithm remarkably.

为了解决飞机自动化装配离线编程系统信息来源问题,在分析特征技术和MBD技术应用于数字化装配方面特点后,提出一种将MBD技术与特征技术相结合的装配孔工艺特征快速添加技术.该技术以MBD模型为基本单位,结合现阶段航空蒙皮类产品建模特点,通过工艺特征将几何信息与工艺信息相结合,建立了面向飞机自动化装配系统的产品工艺特征信息模型.为实现装配孔工艺特征在产品数模上的快速添加,在DELMIA V5平台上开发了面向CAD数模的信息添加功能模块,完成了产品工艺特征信息模型的建立,为飞机自动化装配离线编程系统提供了良好的数据源,实现了CAD/CAM/CAPP系统的集成化和数据共享.

Form features of aircraft structural parts are usually inspected by coordinate measuring machines. In order to inspect complex form features of aircraft structural parts and extend the scope of form features which can be inspected, a neutral framework for form feature definition and a generic algorithm for feature recognition based on the framework were studied. Then an intelligent measuring point distribution algorithm driven by inspection knowledge was proposed. Finally an algorithm combining clustering and improved simulated annealing algorithm was designed for optimizing measuring orientations. Thus intelligent inspection planning based on user-defined feature and inspection knowledge was realized. This technique has been applied in the manufacturing process of several major aviation products, and significantly improved the efficiency and intelligent level of aircraft structural part inspection planning.

数字化设计制造技术的发展和有效应用使得航空钣金模具设计制造实现了由模拟量传递到数字量传递的跨越，且在应用水平上呈加速推广之势，改变了行业格局，并与其他行业相互影响和促进。随着数字化技术的进一步发展，以及更多新技术、新工艺、新材料的应用，模具的数字化设计制造水平将会得到更显著的提升。

针对飞机薄壁件加工的技术难点,在行列式柔性工装系统的基础上,通过分析系统机构和运行原理,建立数学模型,提出了工装快速重构的智能方法.该方法根据工件的外形以及待加工孔位信息,确定POGO柱的吸附位置,并通过DELMIA装配仿真进一步确定POGO柱的吸附位置以及相对与工装基准面的伸出距离.仿真结果表明,该方法可以使该柔性工装系统针对不同的产品模型进行快速重构,满足飞机薄壁件的加工需求.

To increase the calibration precision of industrial robot tool parameters,this paper proposes a calibration method through indirect measurement based on robot kinematics model.By means of relatively fixed position and orientation of two points in space,the method establishes relationship between tool parameters be easily calibrated through direct measurement and parameters of a virtual tool point located on the cutting tool axis.The position and orientation of the virtual tool point in the world coordinate system is obtained by drilling a test hole on a calibration plate,and the parameters of the virtual tool point can be deduced from the calibrated parameters.The experimental results show that compared with traditional methods the drilling precision is effectively improved by the method proposed here.

<正>引言当今世界经济飞速发展,竞争异常激烈,用户的需求越来越广泛,市场竞争直接表现为复杂产品的竞争,这就要求企业不断设计并制造出高性能廉价的创新复杂产品。面对这一形势,作为复杂产品生产的工装设计制造推出了"七化"战略(精确化、标准化、自动化、数字化、柔性化、集成化、商品化),以应对周期越来越短、要求越来越高的客户需求。

For the absolute positioning accuracy of industrial robots used in aircraft flexible automated assembly cannot meet assembly precision, a neural network-based integrated accuracy compensation approach taking into account ambient temperature change factor was proposed based on robot spatial grid accuracy compensation method. Neural network's initial weights and thresholds were optimized by using particle swarm optimization method in order to prevent from falling into local minima in training. The experimental results show that the maximum value of the robot positioning error is as 0.32mm, and the mean value is as 0.19mm with the temperature in the range of 20°C to 30°C, which are much more better than the previous values 1-3mm, the absolute positioning accuracy can satisfy the requirements of aircraft automatic assembly.

作为飞机钣金件主要成形方法之一的橡皮囊液压成形,具有效率高、成形后零件表面质量好等优点.随着飞机制造业的发展,橡皮囊液压成形在飞机钣金件成形中所占的比重也越来越大.随着CAD技术的发展,基于数字化设计和数字化制造技术的支持,航空企业已广泛应用CAD/CAE等先进技术来实现橡皮囊成形模具的结构设计与优化[1],从模具三维造型设计到模具的数控生产,数字化技术提高了模具的设计与生产精度,缩短模具设计周期,提高企业生产效率,使我国航空企业步入高效生产、精益生产的时代.由于航空钣金件数量大、类型多、模具结构形式多变,橡皮囊液压成形模具在很大程度上仍然依赖设计人员的经验,模具的快速设计已成为模具设计中的瓶颈.

飞机部件的装配连接是飞机装配的重要环节.近年来,机器人自动钻铆技术依托机器人的高度柔性,成为飞机大部件自动钻铆技术的研究热点[1].在机器人自动钻铆系统中,传统的测量技术已难以满足系统的快速、高效、高精度检测要求,而与机器人自动钻铆系统高度集成的先进检测和测量设备,能够对钻铆过程进行全生命周期的监测和实时的测量反馈,以提高自动钻铆系统的自动化、智能化和安全水平,满足飞机零部件钻铆的高精度要求,提高钻铆效率[2-3].

Based on the working conditions and characteristics of aircraft parts automatic assembly robot,it uses the finite element analysis and off-line programming method to establish the analysis model,presents the strained condition of the robot in same position and different gesture,plans the best working gesture with minimal impact robot absolute positioning accuracy in view of the stress,strain and displacement of the robot.The experiment verifies the planning results.

For the requirements of aircraft flexible assembly,the industrial robot drilling control system is proposed based on the analysis of the wing drilling process.The system adopts an industrial robot integrated with multi-functional end-effector design approach,a software package is developed with precision compensation,adaptive posture adjustment and motion control functions.Experiments show that the system can improve the accuracy and efficiency of robotic drilling effectively and meet the assembly requirements.

实际生产中,各种钣金零件的质量要求不同,生产批量也不同。为了取得最大的技术—经济效益,有时就必须为满足某些方面的要求,而舍弃其他方面的要求。如,为提高产品的质量,必须采用高精度、结构复杂的模具,这就会提高模具成本并延长生产准备周期;而在需求量不大或对产品的质量要求不高时,就应该放弃对产品的高质量要求,尽量缩短生产周期、降低制模成本,这时就应该采用各种简单的经济模具结构形式。

Simulations of cutting mechanism and drilling vibration of robot drilling are conducted by using FEM analysis software Deform-3D and Abaqus.The simulations of robot drilling forces are conducted and empirical formulas of robot drilling are fitted based on the data obtained from simulations.The simulations of robot mode,stiffness and damping ratio are conducted and proper robot drilling parameters are collected by the theory of chatter.The results indicate that the finite element method can efficiently solve the problem of robot drilling parameter optimization.

The repeated positioning accuracy of the industrial robot is high,but the absolute positioning accuracy is low.In order to improve the absolute positioning accuracy of the industrial robot,an absolute positioning error model is introduced.Based on the model,parameters are identified with laser tracker and least squares method,and the error is corrected.At last,an example is presented,and the method is applied to KUKA KR150-2 robot.The result shows that the average absolute positioning accuracy changes from 1.321 mm to 0.183 mm after calibration.So it indicates that the method is effective.

As end actuator is one of the key components in aircraft automatic assembly based on industry robot,its performance directly affects the quality of drilling and riveting.The requirement of the structural design process of end actuator for key technologies is increasingly urgent.The overall structure of end actuator is proposed firstly according to the industry needs,and the operating principle is analyzed.Secondly,the major functional components are designed.Finally,a prototype for a whole set is developed with high capability of pressing,drilling and normal alignment.Experimental results indicate that the performance of the end actuator can meet the requirements of aircraft assembly.

Piezoelectric actuator as the principal driving device of micro-pump through the inverse piezoelectric effect, its performances mainly depend on the structural design and optimization. A circular piezoelectric bimorph with compound structure was presented for micro-pump actuator, and the vibration displacement, resonant frequency, vibration mode and the harmonic response were simulated and investigated using ANSYS software, and a series optimization of its material selection, structural design and parameters were also fulfilled. The simulation results indicated the influencing relationships of structure parameters for piezoelectric and elastic patches on the maximum displacement and inherent frequency for the piezoelectric actuator, and provided the theory foundation for the design, fabrication and experiment of the piezoelectric micro-pump.

It establishes the FME model of tooling based on NASTRAN,analyzes the stiffness. The results are used to adjust design scheme. It realizes the optimization to obtain light structure. The optimal result improves the design result.

The processing property of the layout design for a kingrod reinforcing plate was analyzed.A multi-position progressive die for the laser tailor-welded blank was developed and the software CATIA was used to simulate the working procedure,design the insert structure of inching cutting edge and adjust the machining and assembly errors that effectively guarantees the punching clearance of the die.

The stamping technique of a lantern ring was analyzed.A progressive drawing die for forming the part was developed and the process calculation,layout design and structure design of the die were introduced,in which CATIA parameterized modeling method and measurement of process data were applied.