Eventos Anais de eventos
COBEM 2017
24th ABCM International Congress of Mechanical Engineering
DEVELOPMENT OF A NOVEL PERPENDICULARITY CORRECTION METHOD FOR ROBOTIC MANIPULATORS APPLIED TO AEROSPACE DOMAIN
Submission Author:
Wesley Oliveira , SP
Co-Authors:
Thiago Neves Cunha, Guilherme Boulhosa Rodamilans, Emilia Villani, Luis Gonzaga Trabasso, Wesley Oliveira
Presenter: Wesley Oliveira
doi://10.26678/ABCM.COBEM2017.COB17-0994
Abstract
The aerospace industry has increased the accuracy requirements of the robotic manipulators systems from the traditional 0.2~0.5 mm, which have been usually enough to the automotive sector, to the challenging 0.05 mm (or better). Because of that, the technological research for new automation technologies based primordially on commercial off-the-shelf (COTS) elements has been considered an important way to reach higher accuracy of ordinary industrial manipulators. In this sense, the design of end-effectors that perform multiple operations allowing the improvement of the robot accuracy by means of perpendicularity measurement and correction modules retains the context of application of this paper. This work presents the development of a perpendicularity measurement module to be used in industrial robot end-effectors that require online angular corrections of the manipulator in relation to the product, as in the case of automated wing/fuselage assembly in the aeronautic industry. Besides the review of previous approaches, a novel approach for the measurement and correction based on distance laser sensors is detailed. The robustness of the presented solution is evinced by an analysis of the error propagation to define the threshold of the system and by the results of a real-time tracking application of a reference plane moved by another industrial robot.
Keywords
industrial robotics, perpendicularity correction, laser sensors, automated manufacturing processes, aerospace industry
