基于汽车薄板的可重构模块化夹具机器人结构设计及运动学仿真

Structural Design and Kinematics Simulation of Reconfigurable Modular Fixture Robot based on Automobile Sheet

夹具是汽车车身装配时的重要工艺设备,夹具的可重用性已成为阻碍汽车生产效率、装配重组的关键因素。针对各种曲率半径薄板的汽车零部件,设计一套可重构模块化夹具。模块化夹具是针对不同曲率半径的薄板进行夹取,而不需进行昂贵的重构设计,这是工业生产中广泛应用的设计标准。对设计的可重构夹具进行了运动学分析,验证其合理性、稳定性。

The fixture is important process equipment in the automobile body assembly, and the reusability of fixture has become the key factor to hinder the efficiency of automobile production efficiency and assembly restructuring. For the automotive components of the sheet with different curvature radius, a set of reconfigurable modular fixture is designed. The sheet with different curvature radius is clipped, and it is not necessary to reconstruct the system, this is widely used in industrial production design standards. A modular fixture is designed, and its kinematics analysis is carried out to verify its rationality and stability.