人机协作气动锤铆中的冲击力传递规律研究  

Study on Transmission Law of Impact Force in Human-robot Collaborative Pneumatic Percussive Riveting

作　　者：王利平 王华 WANG Li-ping;WANG Hua(School of Mechanical Engineering,Shanghai institute of Technology,Shanghai 201418,China)

机构地区：[1]上海应用技术大学机械工程学院,上海201418

出　　处：《计算机仿真》2024年第11期453-457,469,共6页Computer Simulation

基　　金：国家商用飞机制造工程技术研究中心创新基金项目(COMAC-SFGS-2022-1971)。

摘　　要：针对人机协作气动锤铆中过大的冲击力会损坏机器人关节的问题,采用建模仿真的方法对铆接冲击力在工人和机器人之间的传递关系进行研究。结合冲击力动力学建立人机协作的碰撞振动力学模型,根据力学模型推导工人和机器人的受力计算公式。在Simscape环境下搭建人机协作铆接的仿真模型,设计单因素、正交仿真,研究工人顶紧力、顶铁质量、工人体重三种影响因素对冲击力传递的影响,利用极差分析法分析三种影响因素的主次关系。结果表明:工人顶紧力和工人体重越大工人承担的冲击力就越大,增大顶铁质量可以减少工人承担的冲击力。其中工人顶紧力是影响冲击力传递的主要影响因素,工人体重是次要因素,顶铁质量影响最小。In response to the problem that excessive impact force in human-robot collaborative pneumatic percus-sive riveting can damage robot joints,modeling and simulation methods are used to study the transmission relationship of riveting impact force between workers and robots.Combined with impact force dynamics,a collision vibration me-chanical model of Human-Robot-Collaboration was established,and the force calculation formula of workers and ro-bots was derived according to the mechanical model.The simulation model of Human-Robot-Collaboration riveting was established in Simscape environment.Single factor and orthogonal simulation experiments were designed to study the influence of three influencing factors of workers'feed force,bucking bar quality and workers'weight on the impact force distribution.The primary and secondary relations of the three influencing factors were analyzed by range analysis method.The results show that the greater the feed force and the weight of the workers,the greater the impact force of the workers.Increasing the quality of the bucking bar can reduce the impact force of the workers.Among them,the feed force of workers is the main influencing factor affecting the distribution of impact force,the weight of workers is the secondary factor,and the quality of bucking bar has the least impact.

关 键 词：人机协作 气动锤铆 铆接冲击力 仿真建模 

分 类 号：TP271.4[自动化与计算机技术—检测技术与自动化装置]