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

Abstract

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

CLC Number:

V262.4

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

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