机器人精度补偿技术与应用(英文版)

Part I Theories Chapter 1 Introduction 1.1 Background Currently， as production resources are desired to be capable of rapidly reacting to variations in the market environment， and showing flexibility and efficiency， the requirements for high-precision and flexible manufacturing equipment have been continually increasing in various industrial plants. Industrial robots， which incorporate multiple technologies such as computer science， mechanical engineering， electronic engineering， artificial intelligence， information sensing technology， and control theory， are the product of multi-disciplinary intersections. With the maturity of industrial robot technology， it has become a standard equipment widely used in the industrial automation industry， and its technological development level has also become an important symbol of a country’s level of industrial automation. The deep integration of robot technology and modern manufacturing technology will bring new vitality to existing products and technologies， enhance the comprehensive competitiveness of enterprises， and alleviate the crisis of labor shortage. Recently， due to their high degree of automation， flexibility and adaptability， industrial robots have been widely used in many traditional machining and manufacturing fields. As an example， in the electronic and automotive industries， robots have become a necessary tool for production owing to the variety and quantity of products. There are three reasons why robots are widely used in industrial countries: the first is to reduce labor production costs; the second is to increase labor productivity; the third and most important is to meet the needs of industrialization transformation. With the improvement of the technical level of industrial robots， they have begun to enter the high-precision manufacturing fields such as aerospace manufacturing， microprocessing， and biomedicine. Since the 1990s， the main robot production countries have already developed a robot flexible integrated system for a certain industrial field. Taking industrial robots as the main body， with peripheral manufacturing equipment and related software， forming a robot integrated system that meets a certain hightech manufacturing industry， such as robotic drilling and riveting， robotic welding and robotic fiber placement， etc.， will definitely become the development direction of the manufacturing industry and the robot industry. As the leading industry in the manufacturing fields， aviation manufacturing has always been a strategic industry for the national economy and national defense construction. In recent years， the aircraft manufacturing industry has put forward the requirements of high quality， high efficiency， low cost and adaptation to small-batch and multi-model products for aircraft assembly technology. Aircraft assembly is a process in which aircraft parts or components are combined and connected to form higher-level assemblies or complete aircraft according to the design requirements. It is an extremely important link in the aircraft manufacturing process. So far， aircraft assembly technology has experienced a development process from manual assembly， semi-automatic assembly， automated assembly to flexible assembly. In the assembly process of the aircraft， due to the large size， the complex shape， and the large number of parts and connections of the product， the workload accounts for about 40% to 50% of the total workload. Improving the quality and efficiency of aircraft assembly has become one of the research focuses of today’s aviation manufacturing industry. At present， in the aviation manufacturing industry， drilling and riveting are still dominated by manual operations， which have low work efficiencies as well as unstable assembly qualities. Especially for advanced aircrafts， manual operations have been unable to meet the requirements of technical indicators such as positioning accuracy and normal accuracy of connecting holes. The use of automatic drilling and riveting technology has become an inevitable choice for aircraft assembly today， where the automatic drilling and riveting system based on industrial robots is a current research hot spot. As a kind of automatic equipment integrating advanced technology， industrial robots are very suitable for use in aircraft automatic assembly， e.g.， drilling， riveting， milling， grinding， and fiber placement， as shown in Fig.1.1. Compared with the large and ex-pensive automatic drilling and riveting machines based on CNC machine tools， industrial robots have the advantages of high flexibility， high efficiency， and low manufacturing and maintenance costs. Some giants in the aerospace field have also already developed many robotic aircraft assembly systems， e.g.， the Boeing 777 airframe assembly line by KUKA and Boeing (Fig.1.2)， the early RACE (robot assembly cell) robotic automatic drilling and riveting system and the POWER RACE system by BROETJE Inc