High-Precision Measurement and Path Planning for Butt Joint of Large Parts

Huang Xiaotong; Li Lijuan; Lin Xuezhu; Guo Lili; Xiong Weihua

doi:10.3788/CJL202047.1204008

Chinese Journal of Lasers, Volume. 47, Issue 12, 1204008(2020)

High-Precision Measurement and Path Planning for Butt Joint of Large Parts

Huang Xiaotong^1,2, Li Lijuan^1,2、*, Lin Xuezhu^1,2, Guo Lili^1,2, and Xiong Weihua^1,2

¹Key Laboratory of Optoelectric Measurement and Optical Information Transmission Technology of Ministry of Education, School of Opto-Electronic Engineering, Changchun University of Science and Technology, Changchun, Jilin 130022, China

²National Demonstration Center for Experimental Opto-Electronic Engineering Education, School of Opto-Electronic Engineering, Changchun University of Science and Technology, Changchun, Jilin 130022, China

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Figures & Tables(13)

Fig. 1. Digital automatic docking measurement system

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Fig. 2. Flowchart of high-precision measurement and path planning for docking of large components

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Fig. 3. Measurement feature points

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Fig. 4. Schematic of deviation. (a) Non-parallel axes; (b) parallel and not coaxial (c) neither parallel nor coaxial

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Fig. 5. Angle error measurement of joint ears. (a) Angle error measuring device; (b) schematic of angle error

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Fig. 6. Position error measurement of joint ears. (a) Measuring device; (b) schematic of position error

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Fig. 7. Monitoring camera holding device

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Fig. 8. Angle error solution model. (a) One angle error; (b) two angle errors

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Fig. 9. iGPS transmitter layout

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Fig. 10. Analysis of docking deviation in different situations. (a) Global docking; (b) after partial error compensation

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Table 1. Coordinate information of reference point of attitude adjustment

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Table 1. Coordinate information of reference point of attitude adjustment

Point	Assembly coordinate system/mm			Moving parts coordinate system/mm
Point	x	y	z	x	y	z
P₁	2574.619	845.850	162.656	-139.258	782.754	-150.531
P₂	2272.205	827.698	32.148	-337.265	554.236	-195.716
P₃	2390.252	454.690	62.055	11.407	377.364	-100.384
P₄	2106.246	15.124	-31.793	148.475	-154.245	-194.172
P₅	2521.592	161.841	-306.642	313.827	266.476	-468.073
P₆	2627.613	649.994	-303.400	39.408	683.888	-465.489

Table 2. Angle measurements before and after compensation
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Table 2. Angle measurements before and after compensation
Three sets of ear pieces Before and after α/(°) γ/(°)
1 Before 0.0162 0.0234
After 0.0046 0.0034
2 Before 0.0112 0.0066
After 0.0034 0.0032
3 Before 0.0158 0.0186
After 0.0039 0.0042

Table 3. Position error before and after compensation
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Table 3. Position error before and after compensation
Center point Before and after Δa/mm Δb/mm Δc/mm
1 Before 0.095 0.089 0.087
After 0.026 0.028 0.029
2 Before 0.091 0.087 0.086
After 0.024 0.027 0.031
3 Before 0.098 0.092 0.085
After 0.028 0.029 0.028

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Huang Xiaotong, Li Lijuan, Lin Xuezhu, Guo Lili, Xiong Weihua. High-Precision Measurement and Path Planning for Butt Joint of Large Parts[J]. Chinese Journal of Lasers, 2020, 47(12): 1204008

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