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分析了等曲率和变曲率2类飞机侧壁部件的几何特点以及对柔性装配调姿的功能需求,设计了一种新型的面向大型飞机侧壁部件数字化装配的柔性工装机构;该机构基于精密三坐标定位器对侧壁部件进行装配调姿,可等效为6自由度并联机构,通过4条支撑臂对侧壁部件进行夹持;定位器呈前后2排、前低后高布局,能够实现对侧壁部件空间6自由度位姿调整;对工装机构进行了位姿反解,根据侧壁部件的初始位姿和目标位姿反向求解出各支撑臂的关节变量,并利用计算机仿真模型进行了验证,证明了反解算法的正确性,为侧壁部件调姿运动的精确控制奠定了基础.
The geometrical characteristics of side wall components with equal curvature and curvature variation and their functional requirements for flexible assembly are analyzed. A new flexible tooling mechanism for digital assembly of large aircraft side wall components is designed. The mechanism is based on precision three Coordinate locator assembly of the side wall components, can be equivalent to a 6-DOF parallel mechanism, through the four support arm on the wall member holding; locator was front and rear 2 rows, front low back high layout, to achieve The attitude and attitude of the side wall member 6 are adjusted in degrees of freedom; the work mechanism is inverted in position and posture, and the joint variables of each support arm are solved inversely according to the initial pose and the target pose of the side wall member. The computer simulation model It is verified that the correctness of the anti-solution algorithm, which lays the foundation for the precise control of the side-mounted components tune-up movement.