六自由度柔性装配机构的三点定位反解算法与运动仿真

Three-Point Locating Inverse Solution Algorithm and Kinematics Simulation of 6-DOF Flexible Assembly Mechanism

为提高大型复合材料蒙皮部件装配效率,提出了一种基于三点定位的六自由度柔性装配系统运动反解算法。首先建立了柔性装配机构的运动模型,然后通过定位和跟踪装配部件上3个不共线的测量点始末位置坐标,利用该算法来求解各个驱动关节的运动量。通过ADAMS软件构建柔性装配机构虚拟样机模型进行仿真分析,发现仿真结果与理论结果一致,验证了算法的正确性。最后,通过仿真获得了柔性定位器的驱动轨迹,结果发现该算法能保证装配部件运动平稳、准确,为调姿机构的精确控制提供技术基础。

In order to improve the assembly efficiency of large composite skin components,a kinematics inverse solution algorithm of6-DOF flexible assembly mechanism based on three-point locating principle was put forward.Firstly,a kinematics model of the flexible assembly mechanism is established.And then three non-collinear measuring points coordinates on assembly parts were obtained by locating and tracking.In addition,the displacement of each driving joint was calculated by this algorithm.The simulation analysis of the virtual prototype model of flexible assembly mechanism is constructed by ADAMS software.It is found that the simulation results are in great agreement with the theoretical results,and the correctness of the algorithm is verified.Finally,the driving trajectory of the flexible locator is obtained through simulation.The results show that the algorithm was capable of keeping the assembly components move smoothly and precisely,which provided the technological foundation of accurate control for posture alignment mechanism.