基于螺旋理论的5自由度锤铆机器人刚度特性分析

Analysis of Stiffness Characteristic of Five-degree-of-freedom Hammer Riveting Robot based on Spiral Theory

为满足大型航空薄壁曲面工件的加工需求,设计了一种5自由度锤铆机器人。针对该机器人的特点,结合李群李代数及螺旋理论,建立并求解了其运动学模型;利用指数积公式推导出该机器人的雅可比矩阵,并使用刚度映射理论,求解出该机器人的刚度矩阵;运用有限元和Matlab仿真软件,对一般位姿与极限位姿下的末端变形量进行仿真验证,给出了该机器人在任务空间中随位姿变化的刚度分布图。仿真结果表明,与理论计算值相比较误差不超过10%,验证了所建立刚度模型的正确性和有效性,为后续工作路径优化提供了重要参考。

In order to meet the processing requirements of large aerospace thin-walled curved workpieces,a five-degree-of-freedom(5-DOF)hammer riveting robot is designed.In view of the characteristics of the 5-DOF hammer riveting robot,combining Lie group Lie algebra and spiral theory,its kinematics model is established and solved;use the exponential product formula to derive the Jacobian matrix of the robot,and use the stiffness mapping theory to solve the stiffness matrix of the robot;the finite element and Matlab simulation software are used to simulate and verify the end deformation under the general pose and the extreme pose,and the stiffness distribution map of the robot in the task space varying with the change of pose is given;the simulation result is compared with the theoretical calculation value and the error is not more than 10%,which verify the correctness and effectiveness of the established stiffness model and provide important reference for optimization of subsequent work path.