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。
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.
出处
《航空学报》
EI
CAS
CSCD
北大核心
2015年第6期2083-2090,共8页
Acta Aeronautica et Astronautica Sinica
基金
国家自然科学基金(51105205)
航空科学基金(2013ZE52067)~~
关键词
飞机装配
法向调姿
位置逆解
虚拟刀尖点
并联机构
aircraft assembly
normal posture adjustment
inverse kinematics
virtual tip point
parallel mechanism
