{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,7]],"date-time":"2026-04-07T20:57:54Z","timestamp":1775595474751,"version":"3.50.1"},"reference-count":25,"publisher":"MDPI AG","issue":"7","license":[{"start":{"date-parts":[[2024,3,23]],"date-time":"2024-03-23T00:00:00Z","timestamp":1711152000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Science Fund of China","award":["52325506"],"award-info":[{"award-number":["52325506"]}]},{"name":"National Science Fund of China","award":["52305450"],"award-info":[{"award-number":["52305450"]}]},{"name":"National Science Fund of China","award":["2023TQ0045"],"award-info":[{"award-number":["2023TQ0045"]}]},{"DOI":"10.13039\/501100002858","name":"China Postdoctoral Science Foundation","doi-asserted-by":"publisher","award":["52325506"],"award-info":[{"award-number":["52325506"]}],"id":[{"id":"10.13039\/501100002858","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002858","name":"China Postdoctoral Science Foundation","doi-asserted-by":"publisher","award":["52305450"],"award-info":[{"award-number":["52305450"]}],"id":[{"id":"10.13039\/501100002858","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002858","name":"China Postdoctoral Science Foundation","doi-asserted-by":"publisher","award":["2023TQ0045"],"award-info":[{"award-number":["2023TQ0045"]}],"id":[{"id":"10.13039\/501100002858","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The robotic drilling of assembly holes is a crucial process in aerospace manufacturing, in which measuring the normal of the workpiece surface is a key step to guide the robot to the correct pose and guarantee the perpendicularity of the hole axis. Multiple laser displacement sensors can be used to satisfy the portable and in-site measurement requirements, but there is still a lack of accurate analysis and layout design. In this paper, a simplified parametric method is proposed for multi-sensor normal measurement devices with a symmetrical layout, using three parameters: the sensor number, the laser beam slant angle, and the laser spot distribution radius. A normal measurement error distribution simulation method considering the random sensor errors is proposed. The measurement error distribution laws at different sensor numbers, the laser beam slant angle, and the laser spot distribution radius are revealed as a pyramid-like region. The influential factors on normal measurement accuracy, such as sensor accuracy, quantity and installation position, are analyzed by a simulation and verified experimentally on a five-axis precision machine tool. The results show that increasing the laser beam slant angle and laser spot distribution radius significantly reduces the normal measurement errors. With the laser beam slant angle \u226515\u00b0 and the laser spot distribution radius \u226519 mm, the normal measurement error falls below 0.05\u00b0, ensuring normal accuracy in robotic drilling.<\/jats:p>","DOI":"10.3390\/s24072059","type":"journal-article","created":{"date-parts":[[2024,3,25]],"date-time":"2024-03-25T12:32:36Z","timestamp":1711369956000},"page":"2059","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["Error Analysis of Normal Surface Measurements Based on Multiple Laser Displacement Sensors"],"prefix":"10.3390","volume":"24","author":[{"ORCID":"https:\/\/orcid.org\/0009-0005-5992-6750","authenticated-orcid":false,"given":"Fantong","family":"Meng","sequence":"first","affiliation":[{"name":"State Key Laboratory of High-Performance Precision Manufacturing, Dalian University of Technology, Dalian 116024, China"}]},{"given":"Guolin","family":"Yang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of High-Performance Precision Manufacturing, Dalian University of Technology, Dalian 116024, China"}]},{"given":"Jiankun","family":"Yang","sequence":"additional","affiliation":[{"name":"Pengcheng Laboratory, Shenzhen 518055, China"}]},{"given":"Haibo","family":"Lu","sequence":"additional","affiliation":[{"name":"Pengcheng Laboratory, Shenzhen 518055, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3053-7381","authenticated-orcid":false,"given":"Zhigang","family":"Dong","sequence":"additional","affiliation":[{"name":"State Key Laboratory of High-Performance Precision Manufacturing, Dalian University of Technology, Dalian 116024, China"}]},{"given":"Renke","family":"Kang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of High-Performance Precision Manufacturing, Dalian University of Technology, Dalian 116024, China"}]},{"given":"Dongming","family":"Guo","sequence":"additional","affiliation":[{"name":"State Key Laboratory of High-Performance Precision Manufacturing, Dalian University of Technology, Dalian 116024, China"}]},{"given":"Yan","family":"Qin","sequence":"additional","affiliation":[{"name":"State Key Laboratory of High-Performance Precision Manufacturing, Dalian University of Technology, Dalian 116024, China"}]}],"member":"1968","published-online":{"date-parts":[[2024,3,23]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"86","DOI":"10.1016\/j.ijfatigue.2017.05.025","article-title":"Analysis of the fatigue behaviour of laminated composite holes subjected to pin-bearing loads","volume":"103","author":"Bois","year":"2017","journal-title":"Int. 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