基于6-SPU并联机构的铆孔机器人静力学分析  

Static analysis of a riveting robot based on 6-SPU parallel mechanism

作　　者：梁诤 许勇[1] 吕叶萍 LIANG Zheng;XU Yong;LYU Yeping(College of Mechanical Engineering,Shanghai University of Engineering Science,Shanghai 201620,China)

机构地区：[1]上海工程技术大学机械工程学院

出　　处：《轻工学报》2019年第4期96-101,共6页Journal of Light Industry

基　　金：上海市工业互联网创新发展专项资金资助项目(201822930);上海市普通高校学术学位研究生科研创新计划资助项目(E3-0903-18-01020)

摘　　要：对基于6-SPU六自由度并联机构的集制孔与铆接为一体的新型步行式铆孔机器人进行静力学分析:在位置逆解建模、求解的基础上,根据机器人铆接轨迹规划,确定铆枪的正确铆孔作业位姿;针对飞机某大型薄壁圆柱面工件,应用有限元分析软件进行机器人铆孔作业仿真,获得各铆接点工位对应的动平台各向最大变形量及机构的最大等效应力.仿真结果表明,机器人最大变形量最大值为51.847×10^-7 m,在飞机铆接制孔误差允许范围内,且机构最大等效应力最大值为2.698 MPa,远小于材料屈服极限,可满足铆孔作业的精度与强度需求.A new walking riveting robot integrating hole making and riveting based on 6-SPU six degrees of freedom parallel mechanism was analyzed statically.On the basis of inverse position modeling and solution,the correct position of riveting hole of riveting gun was determined according to robot riveting trajectory planning.For aircraft large thin-walled cylindrical workpiece,the finite element analysis software was used to simulate the robot riveting operation,and the maximum deformation of the moving platform and the maximum equivalent stress of the mechanism were obtained.The simulation results showed that the maximum deformation of the robot was 51.847×10^-7 m,which was within the allowable error range of aircraft riveting hole making,and the maximum equivalent stress of the mechanism was 2.698 MPa,which was far less than the material yield limit,which could meet the requirements of precision and strength of riveting hole operation.

关 键 词：铆孔机器人 轨迹规划 静力学分析 变形 

分 类 号：TH122[机械工程—机械设计及理论]