一种基于旋量理论的自动钻铆机调姿反解算法

An Adjustable Position Inverse Solution Algorithm of Automatic Drilling and Riveting Machine Based on Screw Theory

运动学反解是实现机床运动控制的技术基础,也是提高运动精度的技术保证。根据飞机装配自动化钻铆的需求分析,以龙门式自动钻铆机为研究对象,基于旋量理论建立其运动学模型。采用Paden-Kalan子问题模型和自动钻铆机上下末端执行器的几何关系相结合的方法,提出了一种基于旋量理论的自动钻铆机运动学反解算法,并在CATIA中的DMU模块下对算法进行算例验证。结果表明:基于旋量理论的运动学反解算法正确,为自动钻铆机的运动控制提供了理论基础。

Inverse kinematics was the technical foundation for machine tool motion control and the technical assurance to improve the accuracy of movement. According to the demand of automated drilling and riveting aircraft assembly, the gantry automatic drilling and riveting machine was taken as a research object, and its kinematics model was established based on screw theory. A new algorithm was proposed for the inverse kinematics calculation of the automatic drilling and riveting machine based on the screw theory by using the combined method of Paden-Kahan sub-problem method and the geometry of the upper and lower end effector of automated drilling and riveting machine. Furthermore, the proposed inverse kinematics algorithm was validated by using the DMU. The results showed that the inverse kinematics algorithm based on screw theory was efficiently, and it provided the theoretical basis for the motion control of automatic drilling and riveting machine.