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运动学反解是实现机床运动控制的技术基础,也是提高运动精度的技术保证。根据飞机装配自动化钻铆的需求分析,以龙门式自动钻铆机为研究对象,基于旋量理论建立其运动学模型。采用Paden-Kalan子问题模型和自动钻铆机上下末端执行器的几何关系相结合的方法,提出了一种基于旋量理论的自动钻铆机运动学反解算法,并在CATIA中的DMU模块下对算法进行算例验证。结果表明:基于旋量理论的运动学反解算法正确,为自动钻铆机的运动控制提供了理论基础。
Kinematic anti-solution is to achieve machine tool motion control technology, but also improve the accuracy of the technical guarantee. According to the demand analysis of automatic assembly and riveting of aircraft assembly, the gantry automatic riveting machine is taken as the research object, and the kinematics model is established based on the theory of screw volume. Based on the combination of the Paden-Kalan sub-problem model and the geometric relationship between the upper and lower end-effector of automatic drill and rivet machine, an inverse kinematics algorithm of automatic drill and rivet machine based on screw theory is proposed. The DMU module Under the algorithm for example validation. The results show that the correct kinematic inverse algorithm based on the spin theory provides a theoretical basis for the motion control of automatic riveting machine.