摘要
针对飞机机身加工中传统手工钻铆工艺形成的结构疲劳性能低,易产生人为因素误差,以及钻铆机器人多为串联机构,加工精度不够高,极大影响了结构的质量,提出新型三自由度平面并联末端执行器,适用于平面曲线钻铆加工,保证加工位置精度,首先设计7种同类型三自由度平面并联机构,分别为RPP、RRP、RRR、RPR、PPR、PRP和PRR,选择灵活度较高的RRR进行机构逆解运动学分析,其次分析机构的奇异性,分析其运动空间,最后给定加工轨迹进行加工仿真测验,提出7种采用统一设计构件搭建的不同机构模型,为了提高钻铆加工精度及钻铆位置精度,使其应用性广泛。
In view of the low fatigue performance of the structure formed by the traditional manual riveting and riveting process in aircraft fuselage processing, the error of human factors is easy to be generated, and the riveting and riveting robots are mostly in series, so the machining accuracy is not high enough,which greatly affects the quality of the structure. The degree of freedom planar parallel actuator is suitable for plane curve drilling and riveting to ensure the machining position accuracy. Firstly, seven kinds of three-degree-of-freedom plane parallel mechanisms of the same type are designed, which are RPP, RRP, RRR, RPR, PPR, PRP and PRR. The flexible RRR performs the inverse kinematics analysis of the mechanism, and then analyzes the singularity of the mechanism, analyzes its motion space, and finally Machining simulation test is carried out for given machining trajectory, and proposes seven different institutional models built with uniform design components. Improve the accuracy of riveting and riveting processing and the accuracy of drilling and riveting position, making it widely applicable.
作者
刘红军
张芷铭
LIU Hong-jun;ZHANG Zhi-ming(School of Mechatronics Engineering,Shenyang Aerospace University,Shenyang 110136,China)
出处
《组合机床与自动化加工技术》
北大核心
2020年第4期14-17,23,共5页
Modular Machine Tool & Automatic Manufacturing Technique
