An effective deformation analysis and leveling method for work positioning of automatic riveting system in multi-pose space

The panel work positioner of automation riveting system has some characteristics: it is heavy, its span is long, and its deformation is large. Its deformation errors change as its working pose changes, thus leading to that the panel's tolerances are exceeded. Then the panel is defective. In order to control the deformation of the work positioner, sections 1 through 3 of the full paper present a deformation analysis and leveling method for work positioner of automation drilling and riveting system in multi-pose space, which we believe is more effective than previous ones. Section 1 does two things: (1) it establishes a deformation model of the work positioner's crossbeam based on the position model of automatic drilling and riveting system; (2) it establishes the deformation model of panel's drilling and riveting points by the geometrical relationship between each point and the crossbeam's deformation curve. Section 2 presents an algorithm compensating for the deformation errors of the work positioner in multi-pose space based on the iterative optimizing method. Section 3 does two things: (1) it uses the finite element method to analyze the deformations and the out normal vectors of the drilling and riveting points in multi-pose space; (2) it analyzes contrastively the theoretical deformation errors and simulation errors. The simulation results, presented in Figs. 9 through 11 and Table 2, and their analysis indicate that our method is indeed accurate for calculating the work positioner's deformation errors, thus compensating effectively for the deformation errors.