Vision-assisted Compliant Alignment Method for Large Component

Large component alignment is the final manufacturing phase of large-scale products such as aircraft and spacecraft, directly affecting the final performance and quality of these products. In order to improve the assembly efficiency and first pass yield, this paper proposed a vision-assisted compliant alignment method for large component, taking advantage of vision measurement and compliant assembly to realize adaptive alignment. Firstly, the principle of vision-assisted compliant alignment is elaborated. Secondly, the key enablers are presented, including vision-based rough pose measurement method and force/torque-based pose adjustment decision network. Finally, an alignment experiment is conducted to prove the effectiveness of the proposed method.