With the rapid development of the aviation industry,the development of intelligent manufacturing equipment represented by composite robots has been paid close attention by the aviation industry.Based on the analysis o...With the rapid development of the aviation industry,the development of intelligent manufacturing equipment represented by composite robots has been paid close attention by the aviation industry.Based on the analysis of the background and main structure function of composite robots,this paper focuses on the analysis of key technologies such as composite robot hardware design,visual sensing and planning system,integrated control of‘hands,feet,and eyes',multi-robot collaborative operation,and safety.The typical applications of composite robots in aviation intelligent manufacturing such as automatic drilling and connection of aircraft,aircraft surface spraying and finishing,parts handling,aircraft measurement,and inspection are presented.The development trends such as standardization of composite robots,integration of‘5G+cloud computing+AI',and fusion of intelligent sensors are proposed.展开更多
China National Aviation Industry Corpora-tion (CAIC) has developed a complete system for production and sale of leading products mini-vehicles (including mini-cars), as well as e-conomic and luxurious coaches, tank tr...China National Aviation Industry Corpora-tion (CAIC) has developed a complete system for production and sale of leading products mini-vehicles (including mini-cars), as well as e-conomic and luxurious coaches, tank trucks, wrecker truck, garbage trucks, motorcycles展开更多
Currently, due to the detrimental effects on surface finish and machining system, chatter has been one crucial factor restricting robotic drilling operations, which improve both quality and efficiency of aviation manu...Currently, due to the detrimental effects on surface finish and machining system, chatter has been one crucial factor restricting robotic drilling operations, which improve both quality and efficiency of aviation manufacturing. Based on the matrix notch filter and fast wavelet packet decomposition, this paper presents a novel pre-generated matrix-based real-time chatter monitoring method for robotic drilling. Taking vibration characteristics of robotic drilling into account, the matrix notch filter is designed to eliminate the interference of spindle-related components on the measured vibration signal. Then, the fast wavelet packet decomposition is presented to decompose the filtered signal into several equidistant frequency bands, and the energy of each sub-band is obtained. Finally, the energy entropy which characterizes inhomogeneity of energy distribution is utilized as the feature to recognize chatter on-line, and the effectiveness of the presented algorithm is validated by extensive experimental data. The results show that the proposed algorithm can effectively detect chatter before it is fully developed. Moreover, since both filtering and decomposition of signal are implemented by the pre-generated matrices, calculation for an energy entropy of vibration signal with 512 samples takes only about 0.690 ms. Consequently, the proposed method achieves real-time chatter monitoring for robotic drilling, which is essential for subsequent chatter suppression.展开更多
基金the National Key Research and Development Program of China(No.2022YFB4700400)。
文摘With the rapid development of the aviation industry,the development of intelligent manufacturing equipment represented by composite robots has been paid close attention by the aviation industry.Based on the analysis of the background and main structure function of composite robots,this paper focuses on the analysis of key technologies such as composite robot hardware design,visual sensing and planning system,integrated control of‘hands,feet,and eyes',multi-robot collaborative operation,and safety.The typical applications of composite robots in aviation intelligent manufacturing such as automatic drilling and connection of aircraft,aircraft surface spraying and finishing,parts handling,aircraft measurement,and inspection are presented.The development trends such as standardization of composite robots,integration of‘5G+cloud computing+AI',and fusion of intelligent sensors are proposed.
文摘China National Aviation Industry Corpora-tion (CAIC) has developed a complete system for production and sale of leading products mini-vehicles (including mini-cars), as well as e-conomic and luxurious coaches, tank trucks, wrecker truck, garbage trucks, motorcycles
基金supported by the National Key R&D Program of China (No. 2017YFB1302601 and 2018YFB1702503)
文摘Currently, due to the detrimental effects on surface finish and machining system, chatter has been one crucial factor restricting robotic drilling operations, which improve both quality and efficiency of aviation manufacturing. Based on the matrix notch filter and fast wavelet packet decomposition, this paper presents a novel pre-generated matrix-based real-time chatter monitoring method for robotic drilling. Taking vibration characteristics of robotic drilling into account, the matrix notch filter is designed to eliminate the interference of spindle-related components on the measured vibration signal. Then, the fast wavelet packet decomposition is presented to decompose the filtered signal into several equidistant frequency bands, and the energy of each sub-band is obtained. Finally, the energy entropy which characterizes inhomogeneity of energy distribution is utilized as the feature to recognize chatter on-line, and the effectiveness of the presented algorithm is validated by extensive experimental data. The results show that the proposed algorithm can effectively detect chatter before it is fully developed. Moreover, since both filtering and decomposition of signal are implemented by the pre-generated matrices, calculation for an energy entropy of vibration signal with 512 samples takes only about 0.690 ms. Consequently, the proposed method achieves real-time chatter monitoring for robotic drilling, which is essential for subsequent chatter suppression.
