Online compensation of force-induced deformation for high-precision riveting machine based on force–displacement data analysis

Zhang, Yilian; Bi, Qinsheng; Yu, Long; Wang, Yuhan

doi:10.1007/s00170-017-0945-2

Cited by 10 publications

(3 citation statements)

References 18 publications

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“…The other experimental method is based on the offline stiffness/deformation identification. Zhang et al 18 proposed an online-integrated compensation method based on the measured force–deformation data analysis for a three-axis riveting machine. Archenti et al 19 developed a test device called the double ball bar to evaluate the elastic deflection of machine tools in different directions by loading testing.…”

Section: Introductionmentioning

confidence: 99%

Deformation prediction and compensation of a dual-machine riveting system for aircraft assembly

Liu

Zhu

Zhang

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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Automatic riveting systems play a crucial role in the field of aircraft manufacturing. In the riveting process, the machine tool bears a large axial squeezing force, and the resulting deformation will inevitably affect the riveting quality. In this paper, a dual-machine riveting system is developed first, the kinematic chain model and the lower-numbered body of the system structure are constructed sequentially. Then, considering the interaction and coupling effect of the two machines in the actual riveting process, the relative stiffnesses of the dual machine in the resisting state are identified by loading tests. Based on the stiffness data at a combination of postures within the workspace, a Kriging prediction model is established to describe the relationship between stiffness and postures. According to the prediction results, the influence of rotational and translational axes on the spatial stiffness distribution of the riveting system is revealed. Finally, the online deformation compensation is realized by modifying the displacement of the feed axis on both sides. A riveting experiment is carried out, and the results demonstrate that the riveting quality is significantly improved after compensation.

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Section: Introductionmentioning

confidence: 99%

Deformation prediction and compensation of a dual-machine riveting system for aircraft assembly

Liu

Zhu

Zhang

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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show abstract

“…e constant experiment verifies the feasibility of this method, but the disadvantage of this method cannot obtain the complete deformation data under all the possible machine postures. Zhang et al [14] put forward an efficient online compensation method for the stress and deformation on automatic riveting machine based on the analysis of force-displacement data during the riveting process. ese methods have been proved to be used in the machine tool error compensation, but when the layout of the automatic riveting system is complex, whose stiffness varies with the shape of different products in the machining space, the traditional modeling and identification methods will be limited.…”

Section: Introductionmentioning

confidence: 99%

Hybrid Position/Force Control for Dual-Machine Drilling and Riveting System

Liu

Fang

2020

Mathematical Problems in Engineering

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The deformation of riveting machine caused by riveting force during rivet formed makes the riveting tool out of positioning, which leads to gapping underneath the rivet manufactured head and insufficient rivet drive head. This paper proposes a hybrid position/force riveting control method for the dual-machine drilling and riveting system to eliminate the negative effects of machine deformation. The cooperative work of two-side machine tool is realized by a hybrid position/force control strategy, which compensates for the force-induced deformation error without an accurate stiffness model of the riveting system. The position of pressing foot relative to the machine which represents the deformation of skin-side machine is obtained for the compensation to the displacement of skin-side actuator. Simultaneously, the advanced force control is adopted for the stringer-side actuator. The dynamics model of the stringer-side actuator in consideration of the machine deformation is established and identified. The disturbance observer (DOB) and feedforward controller are introduced as the model-based control algorithm to achieve the high-performance force control. Also, contrast experiments are conducted to validate the effectiveness of the proposed riveting control method. The results show that the rivet manufactured head can be seated in the countersink during the forming process and the gapping under the head is eliminated. The driven head height tolerance of ±0.1 mm is achieved by accurate force control.

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“…For example, ELECTROIMPACT®'s E7000 high-speed CNC fuselage riveter can be used to fasten the fuselage panels in a fast, robust and flexible way (Stansbury et al, 2014). GEMCOR®'s G2000 fastening systems have multi-axis to finish the drilling and riveting of the vertical panel, while improving reliability and final assembly quality (Mangus and Mckeown, 1996;Zhang et al, 2018). Typical automatic fastening system has a hybrid structure, which is composed of the upper tool, the lower tool and the parallel robot (Remley et al, 2009;Zieve et al, 2004).…”

Section: Introductionmentioning

confidence: 99%

Inverse kinematics solution and posture optimization of a new redundant hybrid automatic fastening system for aircraft assembly

Pan

Chen

Wang

2019

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Purpose The purpose of this paper is to use the redundancy of a new hybrid automatic fastening system (HAFS) for aircraft assembly in the best way. Design/methodology/approach First, the kinematic model of HAFS is divided into three sub-models, which are the upper/lower tool and parallel robot. With the geometric coordination relationship, a comprehensive kinematic model of the HAFS is built by mathematically assembling the sub-models based on the DH method. Then, a novel master-slave decoupling strategy for inverse kinematics solution is proposed. With the combination of the minimum energy consumption and the comfortable configuration, a multi-objective redundancy resolution method is developed to optimize the fastening configuration of the HAFS, which keep the HAFS away from the joint-limits and collision avoiding in the aircraft panel assembly process. Findings An efficient multi-objective posture optimization algorithm to use the redundancy in the best way is obtained. Simulation and an experiment are used to demonstrate the correctness of the proposed method. Moreover, the position and orientation errors of the drilling holes are within 0.222 mm and 0.356°, which are accurate enough for the automatic fastening in aircraft manufacturing. Practical implications This method has been used in the HAFS control system, and the practical results show the aircraft components can be fastened automatically through this method with high efficiency and high quality. Originality/value This paper proposes a comprehensive kinematic model and a novel decoupling strategy for inverse kinematic solution of the HAFS, which provides a reference to utilize the redundancy in the best way for a hybrid machine with redundant function.

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Online compensation of force-induced deformation for high-precision riveting machine based on force–displacement data analysis

Cited by 10 publications

References 18 publications

Deformation prediction and compensation of a dual-machine riveting system for aircraft assembly

Deformation prediction and compensation of a dual-machine riveting system for aircraft assembly

Hybrid Position/Force Control for Dual-Machine Drilling and Riveting System

Inverse kinematics solution and posture optimization of a new redundant hybrid automatic fastening system for aircraft assembly

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