Abstract:

The paper proposed a kind of robotic aircraft flexible tooling system to overcome the disadvantages of full-numerical-control flexible tooling system. The new flexible tooling system could position the supporting points in the X and Y directions using the pair of assistant robots, which simplified the structure of full-numerical-control flexible tooling system. Thus, the supporting density was increased and the deformation of the work-piece was reduced. The paper presented the scheme and principle of the robotic aircraft flexible tooling system, and introduced a kind of mixed hierarchical control structure based on the analysis of the system control structure. In addition, the design and analysis of the control hardware and software was also illustrated. 

Key words: aircraft flexible tooling system, robot, mixed hierarchical control, control system

摘要：

提出了一种机器人化飞行器柔性工装系统，该系统通过双机器人的协同工作实现支撑点阵的X、Y轴定位，精简了全数字化柔性工装的机械结构，提高了飞行器大型薄壁曲面工件的支撑密度，有效减小了工件在加工中的受力变形。介绍了该系统的总体方案及工作原理，并对系统控制结构进行了分析，提出了一种混合式递阶控制结构。此外，详细阐述了控制系统的硬软件设计。

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关键词: 飞行器柔性工装, 机器人, 混合式递阶控制, 控制系统