具有变胞功能的自主移动制孔机构

Autonomous mobile drilling mechanism with metamorphic function

根据飞机自动化装配的应用需求,结合变胞原理提出了一种双偏心变胞源机构.在此基础上设计了一种具有变胞功能的自主移动制孔机构,能实现行走和调姿制孔两种功能阶段之间的变自由度切换.给出了调姿过程由初始状态经俯仰与侧滚后到达期望法矢位置各足驱动量的运动学反解算法,可用于实时控制.运用Matlab绘出了实际工况下反解算法中各足偏移量区域,完成了双偏心变胞源机构的尺寸设计.建立虚拟样机,联合算例进行运动学仿真,结果验证了运动学算法和双偏心变胞源机构适用于本机构.研制了实物样机,测试了系统的调姿精度,结果表明可满足飞机装配自动化制孔的要求.

According to the application requirements of aircraft automatic assembly and the principle of metamorphic mechanism, a double eccentric source metamorphic mechanism was presented. On the basis, a autonomous mobile drilling mechanism with metamorphic function was designed, and the switching of changing freedom between the two functional stages of walking and posture alignment drilling. The calculation method of inverse kinematics was provided, which could calculate the driven displacement of legs during the posture a- lignment process which changed from initial to desired normal direction by pitching and side roll. This could be used to the online control. The offset domain of inverse arithmetic of each leg in working conditions were plotted by Matlab, and the dimensional designing of double eccentric source metamorphic mechanism was achieved. The virtual prototype model was established, and the kinematics simulation was carried out by using examples. The results confirmed that the kinematics calculation method and the double eccentric source meta- morphic mechanism were applicable for the mechanism. The prototype of mechanism was developed, and the posture alignment accuracy of the system was tested. The result shows that the mechanism can meet the drill- ing requirements of the aircraft automatic assembly.