基于并联机构的轻型自主爬行钻铆系统法向调姿算法

doi:10.7527/S1000-6893.2014.0264

材料工程与机械制造

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基于并联机构的轻型自主爬行钻铆系统法向调姿算法

韩锋¹, 田威¹, 廖文和¹, 张旋², 王丽峰²

1. 南京航空航天大学机电学院, 南京 210016;
2. 江西洪都航空工业集团有限责任公司, 南昌 330024

收稿日期:2014-06-30 修回日期:2014-07-28 出版日期:2015-06-15 发布日期:2014-09-23
通讯作者: 田威 Tel.: 025-84891836 E-mail: tw_nj@nuaa.edu.cn E-mail:tw_nj@nuaa.edu.cn
作者简介:韩锋男, 硕士研究生。主要研究方向:飞机数字化柔性装配技术。 Tel: 025-84891836 E-mail: hanfengnuaa@163.com;田威男, 博士, 副教授。主要研究方向:飞机数字化柔性装配及工装技术。 Tel: 025-84891836 E-mail: tw_nj@nuaa.edu.cn
基金资助:
国家自然科学基金 (51105205); 航空科学基金 (2013ZE52067)

Normal posture adjustment algorithm for lightweight auto-crawling drilling and riveting system based on parallel mechanism

HAN Feng¹, TIAN Wei¹, LIAO Wenhe¹, ZHANG Xuan², WANG Lifeng²

1. College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;
2. Jiangxi Hongdu Aviation Industy Group Corporation Ltd., Nanchang 330024, China

Received:2014-06-30 Revised:2014-07-28 Online:2015-06-15 Published:2014-09-23
Supported by:
National Natural Science Foundation of China (51105205);Aeronautical Science Foundation of China (2013ZE52067)

摘要/Abstract

摘要：

法向调姿是飞机部件自动化钻铆的技术基础,是提高制孔质量的技术保证。根据飞机装配自主爬行钻铆系统的功能需求分析,设计了一套基于并联机构法向调姿的轻型自主爬行钻铆系统,采用改进的Grubler-Kutzbach算法对其进行自由度分析,论证该系统符合法向调姿时所需的5自由度运动。搭建了法向检测及法向调姿数学模型,提出了在保证虚拟刀尖点位置不变的情况下末端执行器由初始状态调姿到期望的姿态时并联机构所需调整量的位置逆解算法和算例,并运用Matlab对算法进行算例验证。结果表明:法向调姿位置逆解算法正确,计算过程简单。

关键词: 飞机装配, 法向调姿, 位置逆解, 虚拟刀尖点, 并联机构

Abstract:

Normal posture adjustment is the technological basis for automatic drilling and riveting of aircraft components and provides technical assurance to improve the drilling quality. According to the functional requirements analysis of auto-crawling drilling and riveting system in aircraft assembly, lightweight auto-crawling drilling and riveting system is designed based on the normal posture adjustment of the parallel mechanism, the improved Grubler-Kutzbach algorithm is used to analyze the system's degree of freedom and it is demonstrated that the mechanism can realize 5 degrees of freedom motion in the system which can conform to the requirement of normal posture adjustment in the paper. It also builds the mathematical models of normal detection and normal posture adjustment, inverse kinematics algorithm and example of adjustment amount for parallel mechanism is proposed when the end effector is adjusted from the original state to the expected posture under the circumstances that the position of virtual tip point can be ensured not to be changed, and verification is implemented using Matlab software. The results indicate that the inverse kinematic algorithm of normal posture adjustment is feasible and reliable with simple calculation process.

Key words: aircraft assembly, normal posture adjustment, inverse kinematics, virtual tip point, parallel mechanism

中图分类号:

V262.4

韩锋, 田威, 廖文和, 张旋, 王丽峰. 基于并联机构的轻型自主爬行钻铆系统法向调姿算法[J]. 航空学报, 2015, 36(6): 2083-2090.

HAN Feng, TIAN Wei, LIAO Wenhe, ZHANG Xuan, WANG Lifeng. Normal posture adjustment algorithm for lightweight auto-crawling drilling and riveting system based on parallel mechanism[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2015, 36(6): 2083-2090.

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E-mail：hkxb@buaa.edu.cn

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基于并联机构的轻型自主爬行钻铆系统法向调姿算法

Normal posture adjustment algorithm for lightweight auto-crawling drilling and riveting system based on parallel mechanism

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