An automatic docking method for large-scale sections based on real-time pose measuring and assembly deviation control
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1. Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, China;2. National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin 300384, China

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    Abstract:

    Aiming at the problem of poor accuracy consistency of large sections’ docking assembly, an automatic docking method using multiple laser trackers to measure the position and posture of the docking sections in real time was proposed. In the solution of the pose of the docking section, real-time pose measurement of the docking section was realized by establishing a global coordinate system and a coordinate fusion method of three or more laser trackers. In the automatic control of the docking process, the real-time communication protocol and the circular negative feedback control strategy of measurement-adjustment-re-measurement are adopted, and the fully-automated docking of large sections is realized. Finally, an experimental verification system was set up, and the docking of the large-scale section reduction models was realized under the requirements of docking accuracy, and the effectiveness of the automatic docking scheme was successfully verified.

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QIAO Zhifeng, FU Kang, LIU Zhenzhong. An automatic docking method for large-scale sections based on real-time pose measuring and assembly deviation control[J]. Optoelectronics Letters,2023,19(11):686-692

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History
  • Received:January 21,2023
  • Revised:February 28,2023
  • Online: November 17,2023
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