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具有变胞功能的自主移动制孔机构

王珉 王谢苗 陈文亮 丁力平

王珉, 王谢苗, 陈文亮, 等 . 具有变胞功能的自主移动制孔机构[J]. 北京航空航天大学学报, 2015, 41(3): 398-404. doi: 10.13700/j.bh.1001-5965.2014.0242
引用本文: 王珉, 王谢苗, 陈文亮, 等 . 具有变胞功能的自主移动制孔机构[J]. 北京航空航天大学学报, 2015, 41(3): 398-404. doi: 10.13700/j.bh.1001-5965.2014.0242
WANG Min, WANG Xiemiao, CHEN Wenliang, et al. Autonomous mobile drilling mechanism with metamorphic function[J]. Journal of Beijing University of Aeronautics and Astronautics, 2015, 41(3): 398-404. doi: 10.13700/j.bh.1001-5965.2014.0242(in Chinese)
Citation: WANG Min, WANG Xiemiao, CHEN Wenliang, et al. Autonomous mobile drilling mechanism with metamorphic function[J]. Journal of Beijing University of Aeronautics and Astronautics, 2015, 41(3): 398-404. doi: 10.13700/j.bh.1001-5965.2014.0242(in Chinese)

具有变胞功能的自主移动制孔机构

doi: 10.13700/j.bh.1001-5965.2014.0242
基金项目: 国家自然科学基金资助项目(51105200)
详细信息
    作者简介:

    王珉(1975—),男,山东蓬莱人,讲师,wangm@nuaa.edu.cn

    通讯作者:

    陈文亮(1966—),男,浙江义乌人,教授,cwlme@nuaa.edu.cn,主要研究方向为飞机装配技术.

  • 中图分类号: V19;TP242.2

Autonomous mobile drilling mechanism with metamorphic function

  • 摘要: 根据飞机自动化装配的应用需求,结合变胞原理提出了一种双偏心变胞源机构.在此基础上设计了一种具有变胞功能的自主移动制孔机构,能实现行走和调姿制孔两种功能阶段之间的变自由度切换.给出了调姿过程由初始状态经俯仰与侧滚后到达期望法矢位置各足驱动量的运动学反解算法,可用于实时控制.运用Matlab绘出了实际工况下反解算法中各足偏移量区域,完成了双偏心变胞源机构的尺寸设计.建立虚拟样机,联合算例进行运动学仿真,结果验证了运动学算法和双偏心变胞源机构适用于本机构.研制了实物样机,测试了系统的调姿精度,结果表明可满足飞机装配自动化制孔的要求.

     

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出版历程
  • 收稿日期:  2014-04-30
  • 网络出版日期:  2015-03-20

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