基于变刚度复杂曲面模糊路径策略的飞机座舱自动化磨抛  

Automatic Polishing of An Aircraft Cabin Based on Fuzzy Path Strategy for Complex Surfaces with Variable Stiffness

作　　者：刘其广 孙晓楠 魏锦辉 李论[4,5] 赵吉宾 Liu Qiguang;Sun Xiaonan;Wei Jinhui;Li Lun;Zhao Jibin(Baimtec Material Co.,Ltd.,Beijing 100094,China;不详;Shenyang Institute of Automation Chinese Academy of Sciences,Shenyang 110169,China)

机构地区：[1]北京航空材料研究院股份有限公司 [2]中国航发北京航空材料研究院 [3]北京市先进运载系统结构透明件工程技术中心 [4]中国科学院沈阳自动化研究所 [5]中国科学院机器人与智能制造创新研究院 [6]辽宁科技大学机械工程与自动化学院

出　　处：《工具技术》2024年第7期97-102,共6页Tool Engineering

基　　金：国家自然科学基金(91948203)。

摘　　要：飞机座舱罩作为典型的复杂曲面弱刚性薄壁零件,是军用与民用飞机的重要部件,其安全与否直接关系到飞机和飞行员的安全。针对飞机座舱盖研磨抛光过程的曲面形状复杂以及刚性弱等问题,本文基于机器人自动化磨抛系统提出了一种基于自适应阻抗控制策略的复杂曲面模糊路径的生成方法,并对磨抛过程的接触力进行建模与分析,引进主被动相结合的磨抛方法,对某型飞机座舱盖进行了仿真及磨抛试验分析。试验结果表明,所提出的主被动相结合的磨抛方法结合自适应阻抗控制策略能较好的适应复杂曲面模糊路径的磨抛过程,力控制精度可达±1N;提出的复杂曲面模糊路径能够满足某型飞机座舱罩的自动化磨抛工艺需求,在保证磨抛结果一致性的同时提高了磨抛效率。Aircraft canopy,as a typical thin-walled part with complex curved surface and weak rigidity,is an important part of military and civil aircraft.Its safety is directly related to the safety of aircraft and pilots.Aiming at the problems of complex surface shape and weak rigidity during aircraft seat cover grinding and polishing process,based on robot automatic grinding and polishing system,a fuzzy path generation method of complex surface based on adaptive impedance control strategy is proposed in this paper,and the contact force of grinding and polishing process is modeled and analyzed,and a grinding and polishing method combining active and passive is introduced.The simulation and polishing test analysis of a certain type of aircraft seat cover are carried out.The experimental results show that the proposed grinding and polishing method combined with adaptive impedance control strategy can better adapt to the grinding and polishing process of complex surface fuzzy path,and the force control accuracy can reach±1N.The proposed fuzzy path of complex curved surface can meet the requirements of automatic polishing process of a certain type of aircraft canopy,improve the efficiency of polishing and ensure the consistency of polishing results.

关 键 词：飞机座舱盖 研磨抛光 主被动柔顺控制 力控制 

分 类 号：TG580.68[金属学及工艺—金属切削加工及机床] TH162.1[机械工程—机械制造及自动化]