面向自动钻铆离线编程系统的运动仿真技术

摘要/Abstract

摘要： 针对五轴自动钻铆系统的结构和运动特点，构建了自动钻铆离线编程系统架构，开发了五轴自动钻铆系统加工运动仿真模块。根据调姿过程中钻铆点均相对固定于托架坐标系这一特点，提出了一种基于动坐标系位姿点的运动学反解算法；在此基础上提出了一种具有实时干涉检验功能的钻铆路径规划方法；在CATIA DMU模块通过CAA的二次开发方法实现机床运动仿真的需求；以某飞机壁板类零件对该仿真系统进行了验证。结果表明，所提方法能够有效识别出运动路径上的干涉部位并通过施加途经点的形式避让该干涉部位。

关键词: 飞机装配, 离线编程, 运动仿真, 自动钻铆

Abstract: According to the structure and movement characteristics of five-axis automatic drilling and riveting systems, the off-line programming system architecture of automatic drilling and riveting was constructed, and the motion simulation module was developed. Firstly, considering that the characteristics of all points were relatively fixed in bracket coordinate system, an inverse kinematics solution was proposed based on the moving coordinate system’s point positions. Based on this, a real-time interference detection route planing algorithm was proposed.Then, motion simulations were realized in DMU module of CATIA by CAA secondary development method. Lastly, an example of aircraft panel part was given to demonstrate the feasibility of this system. The results indicate that it may effectively identify interference parts and avoid interference by inserting viaing points.

Key words: aircraft assembly, off-line programming;motion simulation, automatic drilling and riveting

中图分类号:

V262.4

刘连圣1;王珉1;孙金萍2;王慧1;丁力平1. 面向自动钻铆离线编程系统的运动仿真技术[J]. 中国机械工程.

LIU Liansheng1;WANG Min1;SUN Jinping2;WANG Hui1;DING Liping1 . Motion Simulation Technology for Automatic Drilling and Riveting Off-line Programming Systems[J]. China Mechanical Engineering.

导出引用管理器 EndNote|Ris|BibTeX

链接本文: http://www.cmemo.org.cn/CN/

http://www.cmemo.org.cn/CN/Y2019/V30/I04/461

参考文献

[1]韩峰，田威，廖文和，等. 面向并联机构的轻型自主爬行钻铆系统法向调姿算法[J].航空学报，2015，36（6）：2083-2090.
HAN Feng，TIAN Wei，LIAO Wenhe，et al.Normal Posture Adjustment Algorithm for Light Weight Auto-crawling Drilling System Based on Parallel Mechanism[J].Acta Aeronoutica et Astronautica Sinica,2015,36(6):2083-2090.
[2]王珉，陈文亮，郝鹏飞，等. 飞机数字化自动钻铆系统及其关键技术研究[J]. 航空制造技术，2013(1/2):80-83.
WANG Min，CHEN Wenliang，HAO Pengfei，et al. Aircraft Automatic Drilling and Riveting System and Its Key Technology[J].Aeronautical Manufacturing Technology,2013 (1/2):80-83.
[3]TIAN W，ZHOU Z，LIAO W. Analysis and Investigation of a Rivet Feeding Tube in an Aircraft Automatic Drilling and Riveting System[J]. International Journal of Advanced Manufacturing Technology，2012，61（5/8）：691-701.
[4]何晓煦，田威，曾远帆，等. 面向飞机装配的机器人定位误差和残差补偿[J]. 航空学报，2017,38(4):287-297.
HE Xiaoxu，TIAN Wei，ZENG Yuanfan，et al.Robot Positioning Error and Residual Error Compensation for Aircraft Assembly[J]. Acta Aeronoutica et Astronautica Sinica,2017,38(4):287-297.
[5]ZOUC, LIU J. An Off-line Programming System for Flexible Drilling of Aircraft Wing Structures[J]. Assembly Automation, 2011,31(2):161-168.
[6]殷俊清，王仲奇，康永刚，等. 仿真技术在飞机自动钻铆中的应用[J]. 航空制造技术, 2009(24):84-87.
YIN Junqing，WANG Zhongqi，KANG Yonggang，et al. Application of Simulation Technology in Aircraft Automatic Drilling and Riveting[J]. Aeronautical Manufacturing Technology,2009(24):84-87.
[7]许瑛，胡小平，徐华，等. 基于Matlab的飞机自动钻铆机器人运动分析[J]. 制造业自动化，2009，31(7):25-28.
XU Ying，HU Xiaoping，XU Hua，et al. Research on the Architecture of Networked Collaborative Manufacturing Platform Based on Web Services[J]. Manufacturing Automation,2009,31(7):25-28.
[8]陈亚丽. 机器人自动钻铆系统离线任务规划方法研究[D].南京：南京航空航天大学,2015.
CHEN Yali. Method Research on Robotic Off-line Task Planning of Robot Automatic Drilling and Riveting System[D]. Nanjing: Nanjing University of Aeronautics and Astronautics, 2015.
[9]马伟,徐岩,皱宜勇,等.基于CATIA的五轴自动钻铆定位方法研究[J].机械制造与自动化,2014,43(4):175-176.
MA Wei，XU Yan，ZHOU Yiyong，et al. Study of Automatic Location Method of Five Axis Riveting Machine Based on CATIA[J]. Machine Building & Automation, 2014,43(4):175-176.
[10]马伟. 五轴自动钻铆定位系统结构设计与仿真模块开发[D].南京：南京航空航天大学，2014.
MA Wei. Structure Design and Simulation System Development of Five-axis Riveting Automatic Positioning System[D]. Nanjing: Nanjing University of Aeronautics and Astronautics, 2014.
[11]韦世锋. 飞机部件自动钻铆机床离线编程与仿真规划研究[D]. 南京:南京航空航天大学，2016.
WEI Shifeng. Research on Off-line Programming and Simulation of Automatic Drilling and Riveting Machine for Aircraft[D].Nanjing: Nanjing University of Aeronautics and Astronautics，2016.
[12]ZHA X F, DU H. Generation and Simulation of Robot Trajectories in a Virtual CAD-based Off-line Programming Environment [J].International Journal of Advanced Manufacturing Technology. 2001,17(8):610-624.
[13]YANG J，ALTINTAS Y. Generalized Kinematics of Five-axis Seril Machines with Non-singular Tool Path Generation[J].International Journal of Machine Tool & Manufacture，2013，75（12）：119-132.
[14]NIKU S B. 机器人学导论:分析、控制及应用[M].孙富春，朱纪洪，译. 北京：电子工业出版社，2013:33-39.
NIKU S B. Introduction to Robotics： Analysis, Control, Application[M].SUN Fuchun, ZHU Jihong, trans. Beijing: Publishing House of Electrinics Industry,2013:33-39.
[15]李伊，刘恩福，刘晓阳，等. 基于CATIA/CAA的复杂产品装配干涉矩阵自动生成方法研究[J]. 机械设计与制造，2016(1):36-39.
LI Yi，LIU Enfu，LIU Xiaoyang，et al. Research on Automatic Generation Method of Assembly Interference Matrix for Complex Product Based on CATIA/CAA[J]. Machinery Design & Manufacture，2016(1):36-39.

编辑推荐 0

Metrics

阅读次数

全文

294

HTML			PDF

最新录用	在线预览	正式出版	最新录用	在线预览	正式出版
0	0	0	294	0	0

来源	本网站	其他网站

次数	171	123
比例	58%	42%

摘要

302

最新录用	在线预览	正式出版

302	0	0

来源	本网站	其他网站

次数	237	65
比例	78%	22%