关键词: 大尺度产品, 数字化对接, 测量辅助装配, 位姿感知, 六维力引导

Abstract: To solve the adjustment difficulties of accurate Position and Orientation (P&O) during the alignment process of large-scale components,a comprehensive application framework for digital intelligent alignment technology of large-scale components was put forward,and the enabling technologies,the basic environments and the organizational models were analyzed.According to this framework,three application modes were proposed,and their characteristics were analyzed.Besides,key technologies such as datum transferring and error coordination,P&O perception and evaluation,P&O adjustment path planning and multi-source data fusion and integrated control were researched.Experimental apparatus for P&O-guided flexible assembly based on global coordinates and six-dimensional force-guided compliant alignment were self-designed and developed.The alignment of cabin components was taken as an example,whose experimental results demonstrated the feasibility and validity of the comprehensive framework of technology applications and key technologies.

Key words: large-scale components, digital alignment, measurement assisted assembly, position and orientation perception, six-dimensional force-guided