一种五自由度飞机装配自动制孔机构的设计与分析

发布时间：2018-06-17 01:42

本文选题：飞机装配 + 自动制孔　；参考：《南京航空航天大学》2015年硕士论文

【摘要】：随着航空工业的迅速发展,对飞机制造业中的装配技术提出了高质量、高效率、低成本等生产要求。飞机上的被连接件多为尺寸大、形状复杂的薄壁结构,受力易变形,其制孔质量难以得到保证。在大型薄壁曲面法向上进行自动制孔加工,需要实现末端执行器的位姿调整和垂直进给。并联机构具有良好的调姿能力,并且定位精度高、承载能力强以及良好的动态性能等特点,将其应用到飞机装配自动化制孔机构中具有重大的研究意义和应用价值。本文首先,为了实现对带有不同曲率半径的飞机机翼或机身部件的制孔加工要求,设计了一种基于混联机构的自动制孔机构,能够实现末端执行器进行x、y、z方向的直角坐标运动和A、B两轴的转动,以实现飞机装配的自动制孔要求。并利用螺旋理论分析了机构的自由度。其次,对并联模块的3-RPS并联机构进行了运动学性能分析。采用封闭法建立了该机构的位置逆解模型;基于螺旋理论的影响系数法,分析了机构速度、加速度。并利用ADAMS软件对机构进行了位置逆解验证,仿真得到了机构在运动过程中的速度和加速度性能。再次,基于奇异产生的运动学条件研究了该3-RPS并联机构的运动学奇异位形;采用边界搜索法,利用MATLAB软件计算了机构定姿态工作空间,并进一步分析了动、定平台半径比值对工作空间的影响。最后,针对3-RPS并联机构所存在的误差源对机构运动精度的影响,建立了该机构的位姿误差模型,并在此基础上利用基于NSGA-II的区间不确定多目标优化算法对机构进行了位姿误差补偿,有效地改善了机构的运动精度。在以上理论研究的基础上,试制了一台五自由度自动制孔机构原理样机,为国内自主研发新型飞机装配自动制孔设备提供了技术支撑。
[Abstract]:With the rapid development of aviation industry, high quality, high efficiency and low cost are required for assembly technology in aircraft manufacturing industry. Most of the joints on the plane are thin-walled structures with large size and complicated shape, which are easy to be deformed, and the quality of hole making is difficult to be guaranteed. It is necessary to realize the position and pose adjustment and vertical feed of the end actuator for automatic hole making in the large thin-wall curved surface method. The parallel mechanism has the characteristics of good attitude adjustment, high positioning accuracy, strong bearing capacity and good dynamic performance. It is of great significance and application value to apply the parallel mechanism to the aircraft assembly automation hole making mechanism. First of all, in order to meet the requirements of hole making for aircraft wing or fuselage with different curvature radius, an automatic hole-making mechanism based on hybrid mechanism is designed. The end effector can carry out the motion of Cartesian coordinates in the direction of xyyniz and the rotation of the two axes of Agna B, so as to realize the automatic drilling requirements of the aircraft assembly. The degree of freedom of the mechanism is analyzed by spiral theory. Secondly, the kinematics performance of 3-RPS parallel mechanism is analyzed. The inverse solution model of the mechanism is established by the closed method, and the velocity and acceleration of the mechanism are analyzed based on the influence coefficient method of the helical theory. The inverse position solution of the mechanism is verified by Adams software, and the velocity and acceleration performance of the mechanism is obtained by simulation. Thirdly, the kinematic singular configuration of the 3-RPS parallel mechanism is studied based on the kinematics condition of singularity generation, and the fixed attitude workspace of the mechanism is calculated by using the boundary search method and MATLAB software, and the motion is further analyzed. The influence of fixed radius ratio of platform on workspace. Finally, aiming at the influence of the error source of 3-RPS parallel mechanism on the kinematic accuracy of the mechanism, the pose error model of the mechanism is established. On this basis, an interval uncertain multi-objective optimization algorithm based on NSGA-II is used to compensate the pose error of the mechanism, which effectively improves the kinematic accuracy of the mechanism. On the basis of the above theoretical research, a prototype of a five-degree-of-freedom automatic hole-making mechanism is developed, which provides a technical support for the independent development of a new type of aircraft assembly automatic hole-making equipment in China.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V262.4

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