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根据飞机自动化装配的应用需求,结合变胞原理提出了一种双偏心变胞源机构.在此基础上设计了一种具有变胞功能的自主移动制孔机构,能实现行走和调姿制孔两种功能阶段之间的变自由度切换.给出了调姿过程由初始状态经俯仰与侧滚后到达期望法矢位置各足驱动量的运动学反解算法,可用于实时控制.运用Matlab绘出了实际工况下反解算法中各足偏移量区域,完成了双偏心变胞源机构的尺寸设计.建立虚拟样机,联合算例进行运动学仿真,结果验证了运动学算法和双偏心变胞源机构适用于本机构.研制了实物样机,测试了系统的调姿精度,结果表明可满足飞机装配自动化制孔的要求.
According to the application requirements of aircraft automatic assembly, combined with the principle of cell transformation, a dual eccentricity variable source mechanism is proposed. Based on this, a self-moving holemaking mechanism with cellular function is designed, The two degrees of freedom between the two functional stages switching.Analyzed the kinematic inverse solution of each foot driving amount from the initial state by pitch and roll to the desired normal vector position can be used for real-time control.Using Matlab The displacement area of each foot in the inverse solution algorithm is plotted under actual working conditions, and the dimension design of double eccentricity variable source mechanism is completed.Virtual prototype and joint calculation examples are used to carry on the kinematics simulation. The results verify that the kinematics algorithm and the double The eccentric variable source mechanism is suitable for this mechanism. The physical prototype is developed and the accuracy of the system is tested. The results show that it can meet the requirements of automated assembly of the aircraft.