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

摘要： 针对大尺度产品对接过程精确位姿调整困难的问题,以测量辅助装配相关研究内容为基础,提出了一种大尺度产品数字化智能对接技术应用综合框架,并从基础环境、使能技术和组织模式三个层面对该框架进行了分析。给出了三种大尺度产品数字化智能对接应用模式,并对其特性进行对比分析。分析了基准传递与精度协调、位姿感知与评定、调姿路径规划、多源数据融合与集成控制等关键技术。设计开发了基于全局坐标的位姿引导柔性装配和六维力引导柔顺对接的组合试验装置,并以舱段对接为例,验证了应用综合框架与关键技术的可行性与有效性。

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