Due to their flexibility, low cost and large working volume, 6-axis articulated industrial robots are increasingly being used for drilling, trimming and machining operations, especially in aerospace manufacturing. However, producing high quality components has demonstrated to be difficult, as a result of the inherent problems of robots, including low structural stiffness and low positional accuracy. These limit robotic machining to non-critical components and parts with low accuracy and surface finish requirements. Studies have been carried out to improve robotic machine capability, specifically positioning accuracy and vibration reduction. This study includes the description of the hardware, software and methodologies developed to compensate robot path errors in real time using a single three-degrees-of-freedom (DOF) laser tracker, as well as the experimental results with and without compensation. Performance tests conducted include ballbar dynamic path accuracy test, a series of drilling case studies and a machining test. The results demonstrate major improvements in path accuracy, hole position accuracy and hole quality, as well as increases in accuracy of a machined aluminum part.

This paper presents a novel topology for enhanced vibration sensing in which wireless MEMS accelerometers embedded within a hollow rotor measure vibration in a synchronously rotating frame of reference. Theoretical relations between rotor-embedded accelerometer signals and the vibration of the rotor in an inertial reference frame are derived. It is thereby shown that functionality as a virtual stator-mounted displacement transducer can be achieved through appropriate signal processing. Experimental tests on a prototype rotor conrm that both magnitude and phase information of synchronous vibration can be measured directly without additional stator-mounted key-phasor sensors. Displacement amplitudes calculated from accelerometer signals will become erroneous at low rotational speeds due to accelerometer zero-g osets, hence a corrective procedure is introduced. Impact tests are also undertaken to examine the ability of the internal accelerometers to measure transient vibration. A further capability is demonstrated, whereby the accelerometer signals are used to measure rotational speed of the rotor by analysing the signal component due to gravity. The study highlights the extended functionality aorded by internal accelerometers and demonstrates the feasibility of internal sensor topologies, which can provide improved observability of rotor vibration at externally inaccessible rotor locations

Purpose: The purpose of this paper is to present an optimal posture evaluation model to control the assembly gaps in aircraft wing assembly. The gaps between two mating surfaces should be strictly controlled in precision manufacturing. Oversizing of gaps will decrease the dimensional accuracy and may reduce the fatigue life of a mechanical product. To reduce the gaps and keep them within tolerance, the relative posture (orientation and position) of two components should be optimized in the assembly process. Design/methodology/approach: Based on the step alignment strategy, i.e. preliminary alignment and refined alignment, the concept of a small posture transformation (SPT) is introduced. In the preliminary alignment, an initial posture is estimated by a set of auxiliary locating points, with which the components can be quickly aligned near each other. In the refined alignment, the assembly gaps are calculated and the formulation of the gaps with component posture is derived by the SPT. A comprehensive weighted minimization model with gap tolerance constraints is established for redistributing the gaps in multi-regions. Powell-Hestenes-Rockafellar optimization, Singular Value Decomposition and K-Dimensional tree searching are introduced for the solution of the optimal posture for localization. Findings: Using the SPT, the trigonometric posture transformation is linearized, which benefits the iterative solution process. Through the constrained model, overall gaps are minimized and excess gaps are controlled within tolerance. Practical implications: This method has been tested with simulated model data and real product data, the results of which have shown efficient coordination of mating components. Originality/value: This paper proposed an optimal posture evaluation method for minimizing the gaps between mating surfaces through component adjustments. This will promote the assembly automation and variation control in aircraft wing assembly.

This paper demonstrates vibration reduction in a hollow rotating shaft by means of internal-stator active magnetic actuators, which are resiliently mounted. This problem requires further consideration over and above classic rotor / magnetic bearing systems on account of the flexible behavior of the magnetic actuator support structure. The paper presents an experimental facility conforming to the proposed topology, with a particular focus on the control problem such a system presents. The unique challenges are discussed, and a solution is presented in the form of H-infinity based control. Ultimately, experimental results demonstrate the system to be capable of substantial rotor vibration suppression, including while passing the first rotor critical speed, which was not obtainable with simpler classical control techniques. This means the top achievable rotor speed was increased from approximately 3000 rpm without magnetic actuator vibration suppression to over 9000 rpm with vibration suppression active. At the rotor critical speed, the magnetic actuators effect a reduction in rotor vibration amplitude of over 70% compared to the rotor supported purely on mechanical bearings, while simultaneously avoiding excessive excitation of the flexible AMB support structure.

Under normal operation, a rotor levitated by magnetic bearings will rotate without making contact with any stator component. However, there are a number of circumstances that may lead to temporary or permanent loss of levitation. These include full rotor drop events arising from power loss, momentary fault conditions, sudden changes in unbalance, high levels of base acceleration, and other aerodynamically induced force inputs. The spinning rotor will come into dynamic contact with an auxiliary bearing. Highly localized and transient temperatures will arise from frictional heating over the dynamically varying contact area. Rotor dynamic contact forces are predicted for a range of initial conditions leading to combinations of bounce and rub motion on the auxiliary bearing. The transient heat flux from the contact area is then ascertained. A transient thermal Green’s function is developed in a form that is effective over short or long time scales and local to the source. This enables the transient thermal response of an auxiliary bearing to be assessed for a range of dynamic contact conditions. Auxiliary bearings consisting of fixed bushings and free to rotate inner races are analyzed. The results show that significant localized contact temperatures may arise from each contact event, which would accumulate for multiple contact cases. The methodology will be of relevance for the life prediction of auxiliary bearing designs.