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This paper aims to propose a united kinematic calibration method for a dual-machine system in automatic drilling and riveting. The method takes both absolute and relative pose accuracy into account, which will largely influence the machining accuracy of the dual-machine system and assembly quality.

A comprehensive kinematic model of the dual-machine system is established by the superposition of sub-models with pose constraints, which involves base frame parameters, kinematic parameters and tool frame parameters. Based on the kinematic model and the actual pose error data measured by a laser tracker, the parameters of coordinated machines are identified by the Levenberg–Marquardt method as a multi-objective nonlinear optimization problem. The identified parameters of the coordinated machines will be used in the control system.

A new calibration method for the dual-machine system is developed, including a comprehensive kinematic model and an efficient parameter identification method. The experiment results show that with the proposed method, the pose accuracy of the dual-machine system was remarkably improved, especially the relative position and orientation errors.

This method has been used in an aircraft assembly project. The calibrated dual-machine system shows a good performance on system coordination and machining accuracy.

This paper proposes a new method with high accuracy and efficiency for the dual-machine system calibration. The research can be extended to multi-machine and multi-robot fields to improve the system precision.

This paper aims to promote the integration of the relative position accuracy (RPA) measurement and evaluation in digital assembly process by adopting the model-based method. An integrated framework for RPA measurement is proposed based on a model-based definition (MBD) data set. The study also aims to promote the efficiency of inspection planning of RPA measurement by improving the reusability and configurability of the inspection planning.

The works have been carried out on three layers. In the data layer, an extended MBD data set is constructed to describe the objects and data for defining RPA measurement items; In definition layer, a model based and hierarchical structure for RPA item definition is constructed to support quick definition for RPA measurement items. In function layer, a toolset consisting three modules is constructed in a sequence from measurement planning to RPA value solving to visualized displaying again. Based on this framework, a prototype system is developed.

The paper provides an identified practice of model-based inspection. It suggests that MBD is valuable in promoting both the integration and efficiency of digital inspection.

The templates and constructed geometry objects given in this paper are still limited in a scenario of aircraft assembly. The integrity and universality of them still need follow-up works.

The paper includes implications for the model based digital inspection, the digital assembly and the extended application of MBD.

This paper expands the application of MBD in inspection and fulfils the need to promote the integration and efficiency of digital inspection in large-scale component assembly.

Presents an on‐line calibration methodology for robot relative positioning inaccuracy. This methodology eliminates the need for time‐consuming off‐line calibrations relying on accurate models and complicated procedures. To realize this methodology, a vision system, a 3D force/torque sensor, and control strategies involving Neural Networks (NNs) were incorporated with an industrial robot.

Wireless network localization technology is very popular in recent years and has attracted worldwide attention. The purpose of this paper is to improve the localization accuracy of ultra-wideband (UWB) with lower localization error taking into consideration the special real environment with the closed long and narrow space.

The principle of multidimensional scaling (MDS), particle swarm optimization (PSO) and Taylor series expansion algorithm (Taylor-D) were introduced. A novel positioning algorithm, MDS-PSO-Taylor was proposed to minimize the localization error. MDS-PSO algorithm provided a more accurate preliminary coordinate by applying the PSO algorithm so that the Taylor-D was used for further enhancing the localization accuracy.

Experimental results manifested that the proposed algorithm, providing small localization error value and higher positioning accuracy, can effectively reduce errors and achieve better performance in terms of the considerable improvement of localization accuracy.

The presented study with the real environment test attempts to demonstrate the proposed algorithm is hopeful to be applied to the underground environment for in the future.

An alternative way of performing micro‐assembly tasks is by means of product‐internal assembly functions. After a coarse alignment step, the parts are fine positioned relative to each other by functionality that is integrated with the product. This functionality includes part actuation, position sensing and part freezing. They replace expensive machinery and delicate manual labour, and are aimed to result in lower total production costs. Micro electro mechanical system (MEMS) technology has important benefits to be used as supporting technology, because it allows for cost reduction (batch production), and structures can be made with small dimensions and high accuracy. The objective of this paper is to develop a reliable and reproducible interconnection technology using MEMS‐based product‐internal assembly functions, by which packaging cost is reduced and yield is improved. The considered case is the packaging of optical fibre to chip couplings.

Presents an overview of how satellite‐based positioning techniques could be used to develop novel navigational methods for use on mobile robotic platforms. Details are given of the major terrestrial techniques, both internal and external to the robot, which have been traditionally used to meet positioning requirements. A descriptive summary of the global positioning system of navigation satellites (GPS) is followed by an introduction to Galileo, the European project on the development of a comparable system. A small number of examples, either near to market or in use now, are used to illustrate the use of robotic systems that use GPS as a source of 3D absolute position information, but also velocity, attitude and time. Concludes that GPS is likely to become the universal positioning standard for outdoor applications, with future augmentations and developments enhancing the reliability, integrity and accuracy of the system. Nevertheless, in most cases it will still be necessary to use GPS in combination with alternative positioning sensors.

Inductances of complex coils, in the presence of linear materials only, can be computed by discretizing coils into simpler elements, whose magnetic behavior is analytically expressible, and suitably combining elementary contributions. Reliable results require high numbers of elements. In such cases, advantages can be taken from Graphic Processor Unit (GPU) capabilities of dealing efficiently with high numbers of repeated simple computational tasks. The purpose of this paper is to set up a fast and prompt numerical procedure to cope with the above described task.

The coils are first decomposed into current segments, taking into account accuracy, relative position and shape of coils to determine the number of segments. An analytical formula is then used to compute elementary contributions using GPUs to speed up the process, and finally superposition is used to recover the result.

The main advantages of the proposed approach are first demonstrated using simple examples, with analytical solutions, to validate the method accuracy and promptness, then more complex cases are taken to demonstrate its generality.

The method is intrinsically limited by the linearity assumption, excluding the presence of magnetic materials. The adopted formulas require in addition that coils must lie in free space.

The proposed method can help in the design of complex coils or coils systems, where the performance depends on total magnetic energy or magnetic forces among coils.

The paper presents an original implementation in GPU-based computational environment of a procedure to compute inductances, based on the superposition of a high number of current segments. The procedure includes an original method to self-adaptively define number and position of current segments used in the coils discretization.

Coordination feature (CF) is the information carrier in dimension and shape transfer process in aircraft manufacturing. The change of its geometric size, shape, position or other attributes would affect the consistency of accumulated errors between two or more assemblies. To identify these “key characteristics” that have a close relationship with the assembly precision, a comprehensive method was developed under digital manufacturing environment, which was based on importance calculation. The multi-hierarchy and multi-station assembly process of aircraft products were also taken into consideration.

First, the interaction and evaluation relationship between components at different manufacturing stages was decomposed with a hierarchical net. Second, to meet coordination accuracy requirements, with the integrated application of Taguchi quality loss function, accuracy principal and error correction coefficient H, the quality loss between target features and candidate features at adjacent assembly hierarchies were calculated, which was based on their precision variation. Third, the influence degree and affected degree of the features were calculated with DEMATEL (decision-making trial and evaluation laboratory) method, and the concepts of centrality degree index and cause degree index were proposed for calculating the complete importance degree to eventually identify the CFs.

Based on the proposed methodology, CFs, affecting the skin profile and the flush coordination accuracy, were successfully identified at different assembly hierarchies to a certain type of wing flap component.

Benefit results for the engineering application showed that the deviation of skin profile was more accurate than before, and the tolerance was also closer to the centerline of required assembly precision range. Moreover, the stability in the assembly process was increased by 26.9 per cent, which could bring a higher assembly quality and an enhancement on aircraft’s flight performance.

The purpose of this paper is to develop a novel process of integral ceramic molds for investment casting of hollow turbine blades.

At first, a resin pattern of a hollow turbine blade prototype is fabricated by stereolithography (SL). And then aqueous gelcasting process is utilized to fill the resin pattern with ceramic slurry of low viscosity and low shrinkage, through in situ polymerization of the slurry a ceramic mold is formed. At last, the ceramic mold for investment casting of hollow turbine blade is obtained by vacuum drying, pyrolyzing and sintering.

An integral ceramic mold is successfully fabricated by combining SL and gelcasting process, cores and shell are connected with each other and thus high relative position accuracy is guaranteed. Properties of integral ceramic mold at room temperature and high temperature satisfy the requirements of directional casting for complex‐shaped thin‐walled blades.

Because the integral ceramic mold is a close body, it is very difficult to directly measure its inner dimensions and the relative position accuracy of cores and shell, and the further research is needed.

This method enhanced the versatility of using SL prototype in the fabrication of integral ceramic mold for investment castings. Although this paper took a hollow turbine blade as an example, this method is also capable of fabricating integral ceramic molds for other complex investment castings.

Both geometric and non-geometric parameters have noticeable influence on the absolute positional accuracy of 6-dof articulated industrial robot. This paper aims to enhance it and improve the applicability in the field of flexible assembling processing and parts fabrication by developing a more practical parameter identification model.

The model is developed by considering both geometric parameters and joint stiffness; geometric parameters contain 27 parameters and the parallelism problem between axes 2 and 3 is involved by introducing a new parameter. The joint stiffness, as the non-geometric parameter considered in this paper, is considered by regarding the industrial robot as a rigid linkage and flexible joint model and adds six parameters. The model is formulated as the form of error via linearization.

The performance of the proposed model is validated by an experiment which is developed on KUKA KR500-3 robot. An experiment is implemented by measuring 20 positions in the work space of this robot, obtaining least-square solution of measured positions by the software MATLAB and comparing the result with the solution without considering joint stiffness. It illustrates that the identification model considering both joint stiffness and geometric parameters can modify the theoretical position of robots more accurately, where the error is within 0.5 mm in this case, and the volatility is also reduced.

A new parameter identification model is proposed and verified. According to the experimental result, the absolute positional accuracy can be remarkably enhanced and the stability of the results can be improved, which provide more accurate parameter identification for calibration and further application.