飞机小曲率翼面部件机器人制孔系统设计

Profile Robot System Design on Aircraft Wing Part Small Hole Curvature

主要介绍了针对飞机小曲率型面的机器人制孔系统总体方案和主要单元设计思路。由孔的技术指标,确定制孔末端执行器设计结构;由工件的大小来确定机器人加工范围及第7轴结构设计;由末端执行器的重量来选取机器人负载;采用简洁校准测试模式,完成系统的基准建立和机器人TCP、零点、末端执行器的标定;同时对主要受力部件进行有限元分析,确定强度的薄弱环节并进行优化。

The overall plan of the robot hole making system and the design idea of main units on the aircraft small curvature profile were introduced.According to the technical indicators of the hole and the size of workpiece,the structure of end-effector,the process range of the robot and the 7-axis structure were determined.The selection of robot load depended on the weight of end-effector.The simple calibration test mode was used to set up the system benchmark and complete the calibration of robot TCP,zero point and end-effector.The finite element analysis of the main forcebearing parts was carried out to determine the weak links of the strength to optimize.