原创《基于位姿在线反馈调整大型法兰对装》：本论文为您写法兰毕业论文范文和职称论文提供相关论文参考文献，可免费下载。
摘 要：为解决工业结构中大型法兰对接装配存在的低精度、低效率等问题,提出一种基于姿态矢量及LD-PSD在线反馈的对装方法.首先,以关节臂测量机获取标定块测量点的实际坐标值,和理论坐标值对比形成拟合误差矩阵,以该矩阵2范数最小为优化目标,利用奇异值分解法（SVD）建立全局坐标系和测量坐标系映射关系,并获取全局坐标系下待装配件若干点空间坐标,结合最小二乘法及随机霍夫变换（RHT）建立待装配体当前位姿数学模型.设计六自由度位姿调整装置,以静法兰为目标位姿,依据关键姿态矢量信息解算动法兰位姿调整参量,实现位姿预调整. LD-PSD在线反馈系统检测并反馈装配质量评价指标,规划微转动及微平动路径,对静法兰位姿多次纠偏以满足对接装配精度.试验结果表明：装配过程高效,装配精度高,能够实现法兰连接结构的精确对装.设计的LD-PSD在线反馈系统可实现位姿的调整、检测、反馈再调整的闭环装配操作.
关键词：关节臂测量机；关键姿态矢量；LD-PSD；奇异值分解法；最小二乘法；随机霍夫变换
中图分类号：TP23 文献标志码：A
Assemblage of Large Flange Based on Attitued Vector and Position Online Feedback
HOU Zengxuan ,YANG Xiuwei, HUANG Lei ,XU Jun
（School of Mechanical Engineering, Dalian University of Technology,Dalian 116024,China）
Abstract：In order to solve the problems of low precision and low efficiency in the assemblage of large flange, a new method was considered on the basis of the key attitude vector and LD-PSD online feedback for the assemblage of large flange. Firstly, joint arm measuring machine was used to measure the actual coordinates of calibration block, which was compared with the theoretical values to build fitting error matrix. Taking the least 2-norm of the error matrix as optimization objective, a mapping relation between the global coordinate system and measuring coordinate system with SVD was then established. Secondly, the space coordinates of several points in the parts to be assembled under global coordinate system, and the mathematical model of the current position of the parts by the combination of the least square and RHT the key attitude vector information for the position and attitude adjustment parameters of tail nozzle were calculated. Lastly, the LD-PSD online correction system detected and feedbacked the quality evaluation index of the assembly to plan the micro motion and rotation path and adjust nozzle position in order to satisfy the assembly accuracy. According to the results of experiment, the assemble process through the proposed method is stable and efficient, the assemble precision is high, and the precise assemble of nozzle and combustion chamber is realized. LD-PSD system can realize a closed-loop operation of tail nozzle, such as adjustment, detection, feedback, and readjustment.
Key words：joint arm measuring machine； key attitude vector； LD-PSD； singular value decomposition method； least square method； random Hough transform
法蘭对接结构具有构造简单、可操作性好等特点,因此在工业结构中应用广泛.典型应用如航天器间的对接、航天运载结构级间分离面的对接、火箭发动机燃烧室和尾喷管的装配、石油化工设备中密闭管道的连接、风力发电机主轴结构、飞机导管的螺栓法兰连接以及核反应堆冷却泵转子组件的轴向连接等等.以航天结构为例,美国航空喷气公司的统计数据显示,20世纪60年代,和对接结构相关的故障占14.9%,国内1969至1984年7种型号固体火箭发动机的50次实验中,有18%的故障由对接结构及密封问题引起,由此可知,法兰对接结构是很多工业结构失效的主要原因之一.因此,提高工业结构的法兰对接装配质量及效率,以提高工业结构的安全性能是值得研究的关键问题.
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结论：基于位姿在线反馈调整大型法兰对装为适合法兰论文写作的大学硕士及相关本科毕业论文，相关法兰是什么东西开题报告范文和学术职称论文参考文献下载。
