关键词: 复合材料, 调姿定位, 柔性装配, 机器人

Abstract: Aiming at the problems of multiple types and numbers of parts in aerospace compartments and low assembly efficiency,an automatic gripping and positioning technology for multi-species part structures is proposed. The technology is based on the part assembly feature recognition method,part flexible clamping end and part position attitude accurate adjustment technology,which can be used for automatic robot gripping and high-precision fast positioning of bracket parts. By measuring the part positioning dimensions of a typical product assembly,the results show that the axial and circumferential positioning deviations of the parts are within the tolerance range,indicating that the automatic clamping and positioning technology for the part can provide new technological means and equipment for the digital positioning, assembly and manufacturing of composite rotary body segments.

Key words: composite material, alignment and localization, flexible assembly, robotics