航空装配抗振外骨骼减振器参数设计

Parameter Design of Shock Absorber of Anti-vibration Exoskeleton for Aerial Assembly

利用双直角坐标法求解抗振外骨骼辅助铆接的人机耦合力学模型,根据拉格朗日原理建立铆接工具水平方向和垂直方向的运动微分方程,得到影响抗振外骨骼减振性能的减振器参数。基于人机耦合力学模型和现有外骨骼样机参数,以标准正交表L 16(45)设计5因素4水平的正交仿真试验,分析减振器参数对抗振外骨骼减振性能的影响。ADAMS仿真试验结果表明:减振器参数对水平方向力F x和合力均值μF影响显著,而对竖直方向力F y影响较小;减振器参数对F x的影响显著性排序为:l 1>c 2>k 1>k 2>c 1,对μF的影响显著性排序为:l 1>c 2>k 2>k 1>c 1;减振器安装位置l 1是F x和μF的主要影响因素,试验范围内的最佳参数组合为l 1(4)k 1(4)k 2(4)c 1(4)c 2(4)。试验结果确定了减振器参数对减振性能的影响,为减振器参数设计及类似的减振结构设计提供参考依据。

The method of double rectangular coordinates is used to solve the human-machine coupling model of riveting with anti-vibration exoskeleton.In terms of the Lagrange principle,the differential equations of motion in the horizontal and vertical directions of rivet tool are established to obtain the shock absorber parameters which affect the vibration reduction performance of anti-vibration exoskeleton.Based on the human-machine coupled model and the exoskeleton prototype parameters,the 5 factors and 4 levels orthogonal test is designed according to the standard orthogonal table L 16(45)to analyze the influence of the shock absorber parameters on the vibration reduction performance of anti-vibration exoskeleton.The results of orthogonal simulation test show that the shock absorber parameters have a significant influence on the horizontal force F x and the resultant forceμF,but little effect on the vertical force F y.The influence significant order of the shock absorber parameters is l 1>c 2>k 1>k 2>c 1.on F x and l 1>c 2>k 2>k 1>c 1 onμF;the shock absorber installation position l 1 is the main influencing factor of F x andμF,and the optimal combination of parameters in the test range is l 1(4)k 1(4)k 2(4)c 1(4)c 2(4).It determines the influence of the shock absorber parameters on the vibration reduction performance of anti-vibration exoskeleton,which provides a reference for the shock absorber parameter design and the similar anti-vibration structure design.