Research on six-dimensional pose measurement methods during the automatic installation of aircraft engines

Le résumé fourni par la source

Abstract Aimed at the high-precision and high-reliability automatic assembly of large-scale components represented by aeroengine installation, accurate pose measurement throughout installation is essential for realizing precise docking. This paper proposes a real-time six-degrees-of-freedom pose measurement approach based on a multicamera and multitarget configuration. A mathematical model of the six-dimensional pose measurement system was first established via a spatial coordinate transformation, from which a high-precision solution model for six-dimensional parameters was derived. Based on the error analysis of the established model, a simulation was conducted using the Monte Carlo method. The simulation results demonstrated that, within the attitude angle range of ±3°, the maximum root-mean-square error (RMSE) of angular measurement reached 0.062°, with the range being less than 0.3°. For displacements within 1 400–3 400 mm on the Y -axis and ±40 mm on both the X - and Z -axes, the RMSE of positional measurement was no more than 0.54 mm, with the range less than 3 mm. An experimental platform was constructed, and accuracy was validated using the same parameters as those adopted in the simulations. The maximum RMSEs of the angular and positional measurements were 0.128° and 1.51 mm, respectively, with the corresponding ranges of less than 0.3° and 3 mm, respectively, which were consistent with the simulation results. The experimental results validate the feasibility of the proposed measurement method and the effectiveness of the developed measurement device.

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