CAJ | 학술논문

复杂结构件装配平台采用了多种数控装配工具，能够实现自动化夹持、铆接、无缝校准对接和制孔，也可以完成复杂部件装配连接等工程。而根据复杂结构件装配工艺要求，不仅要对装配零件的空间位置进行定位，而且必须具有较高的控制精度和自动化程度。针对该平台，设计了一套工业机器人辅助3D激光扫描测量系统，建立了适合该平台的测量系统的原理模型，并对机器人旋转扫描轨迹进行规划，通过实例计算得出了机器人末端的坐标轨迹方程，为后面的实际装配测量提供了良好的理论基础。
복잡결구건장배평태채용료다충수공장배공구，능구실현자동화협지、류접、무봉교준대접화제공，야가이완성복잡부건장배련접등공정。이근거복잡결구건장배공예요구，불부요대장배령건적공간위치진행정위，이차필수구유교고적공제정도화자동화정도。침대해평태，설계료일투공업궤기인보조3D격광소묘측량계통，건립료괄합해평태적측량계통적원리모형，병대궤기인선전소묘궤적진행규화，통과실례계산득출료궤기인말단적좌표궤적방정，위후면적실제장배측량제공료량호적이론기출。
The assembly platform of complex structures with a variety of CNC assembly tools can be used to achieve automated clamping,riveting,drilling,seamless calibration docking,as well as complex component assembly connection engineering. According to the requirements of assembly process,the assembly platform not only can be used to locate spatial position of assembly parts,but al-so must have high control accuracy and automation. For the platform,a industrial robot-assisted 3D laser scanning measurement system was designed. The principle model of the measurement system for the platform was established. The rotating scan trajectory of the robot was planned. The results provide theoretical basis for the next actual assembly measurement experiment.