To meet the production mode of small batch

multiple forms and large structure in the field of aviation anufacturing

a flexible robot gluing system based on point cloud analysis is designed. Firstly

the composition

process nd interaction mode of components of the gluing system are discussed. Then the coordinate system calibration of the luing system is introduced. The pose matrix of the robot coordinate system and the laser tracker coordinate system is reatively fitted based on the feature structure recognition

forming a combined gluing system. Finally

the point cloud nalysis of the gluing system is introduced

first

the intersection line between the skin and stringer is obtained based on he point cloud feature extraction

second

the robot gluing trajectory information is constructed based on the principal urve theory and B-spline curve fitting. The robot gluing system constructed in this way makes full use of the point cloud ata and its structural characteristics without manual teaching or off-line programming. After generating the gluing control rogram

only the simulation is needed to verify the correctness of the program

which greatly simplifies the operation teps

realizes the flexible robot gluing system

and meets the requirements of the aviation manufacturing field for the obot gluing system.