关键词: 激光测距, 大部件对接, 误差分析, 蒙特卡洛仿真

Abstract: The assembly mode based on large-scale measurement guidance is costly,and the accuracy is easily interfered by environmental factors such as temperature.A new method of large components assembly based on laser range sensing was proposed,and the error factors were comprehensively analyzed.The basic composition and principle of the system based on ranging were introduced.The current pose of the component was solved via the Singular Value Decomposition (SVD) method,and the model of the large-component docking target pose based on laser ranging was constructed with the geometry analysis method and the small rotation model.According to the kinematics of the attitude platform,the amount of posture adjustment of each positioner was calculated.As the error exists in the adopted method and system,Monte Carlo simulation method was used to analyze the ipmact and law of the main error source on the accuracy of the attitude adjustment.The effectiveness and accuracy of the proposed method were verified by the test system,and the result showed that the actual accuracy was better than 0.05mm.

Key words: laser range sensing, large components assembly, error analysis, Monte Carlo simulation