机器人化螺旋铣孔运动的矢量建模与仿真

Vector modeling and simulation of robotic orbital drilling motion

为满足现代飞机机身组件高效精密制孔的装配需求,提出一种新型的机器人化螺旋铣孔系统,以弥补现有机器人钻孔系统柔性加工能力的不足。通过对螺旋铣孔机理的简要分析,构建了两种典型的机器人化螺旋铣孔加工方式,比对了两种加工方式的优缺点。运用矢量分析法,建立了两种螺旋铣孔运动的矢量方程,并给出了相应的矢量表达式。通过刀尖轨迹的运动仿真,验证了矢量方程建立方法的可行性与正确性。

To satisfy assembly requirement of precise hole-making in modern aircraft components,a new robotic orbital drilling system was advanced to make up the flexible deficiency in present robotic drilling system.After analyzing the principle of orbital drilling,two typical robotic orbital drilling methods were constructed,and a comparison was made between the two processing methods.Through vector analysis method,the vector equations of two orbital drilling motions were established,and the vector expressions of two typical orbital drilling movements were also given.The feasibility and correctness of vector equations were verified through motion simulation of tool nose.