Advanced Search
Volume 41 Issue 3
Mar.  2015
Turn off MathJax
Article Contents
Journal of Beijing University of Aeronautics and Astronautics  > 2015  >  41(3): 398-404.
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)
shu

Autonomous mobile drilling mechanism with metamorphic function

doi: 10.13700/j.bh.1001-5965.2014.0242

  • College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

  • Received Date: 30 Apr 2014
  • Publish Date: 20 Mar 2015
    Abstract
  • According to the application requirements of aircraft automatic assembly and the principle of metamorphic mechanism, a double eccentric source metamorphic mechanism was presented. On the basis, a autonomous mobile drilling mechanism with metamorphic function was designed, and the switching of changing freedom between the two functional stages of walking and posture alignment drilling. The calculation method of inverse kinematics was provided, which could calculate the driven displacement of legs during the posture alignment process which changed from initial to desired normal direction by pitching and side roll. This could be used to the online control. The offset domain of inverse arithmetic of each leg in working conditions were plotted by Matlab, and the dimensional designing of double eccentric source metamorphic mechanism was achieved. The virtual prototype model was established, and the kinematics simulation was carried out by using examples. The results confirmed that the kinematics calculation method and the double eccentric source metamorphic mechanism were applicable for the mechanism. The prototype of mechanism was developed, and the posture alignment accuracy of the system was tested. The result shows that the mechanism can meet the drilling requirements of the aircraft automatic assembly.

     

    • FullText(HTML)
  • loading
    • References(22)
  • [1]
    DeVlieg R, Sitton K,Feikert E,et al.ONCE(one sided cell end effector) robotic drilling system,2002-01-2626[R].USA:SAE,2002.
    [2]
    Atkinson J, Hartmann J,Jones S,et al.Robotic drilling system for 737 aileron,2007-01-3821[R].USA:SAE,2007
    [3]
    Branko S. Assembly techniques for space vehicles,2000-01-3028[R].USA:SAE,2001.
    [4]
    许国康. 大型飞机自动化装配技术[J].航空学报,2008,29(3): 734-740. Xu G K.Automatic assembly technology for large aircraft[J].Acta Aeronautica et Astronautica Sinica,2008,29(3):734-740(in Chinese).
    [5]
    Marguet B, Cibiel C,De Francisco Ó.Crawler robots for drilling and fastener installation: an innovative breakthrough in aerospace automation,2008-01-2292[R].USA:SAE,2008
    [6]
    刘冬,赵现朝, 齐臣坤.行走·定位一体化飞机制孔六足机器人研究[J].机械设计与研究,2012,28(6):53-55. Liu D,Zhao X Z,Qi C K.Research on walking-positioning integrated hexapod robot for drilling aircraft component[J].Machine Design and Research,2012,28(6):53-55(in Chinese).
    [7]
    王启申,袁培江, 王田苗,等.航空制孔末端执行器中调姿机构的设计与实验[J].北京航空航天大学学报,2014,40(7):988-993. Wang Q S,Yuan P J,Wang T M,et al.Design and experiment of an adjusting mechanism in aviation drilling end effector[J].Journal of Beijing University of Aeronautics and Astronautics,2014,40(7):988-993(in Chinese).
    [8]
    王珉,陈文亮, 张得礼,等.飞机轻型自动化制孔系统及关键技术研究[J].航空制造技术,2012(19):40-43.Wang M,Chen W L,Zhang D L,et al.Light-weight automatic drilling system and key technology for aircraft[J].Aeronautical Manufacturing Technology,2012(19):40-43(in Chinese).
    [9]
    Dai J S, Rees J J.Mobility in metamorphic mechanisms of foldable/erectable kinds[J].Transactions of ASME,Journal of Mechanical Design,1999,121(3):375-382.
    [10]
    Dai J S, Zhang Q X.Metamorphic mechanisms and their configuration models[J].Chinese Journal of Mechanical Engineering,2000,13(3):212-218.
    [11]
    Li D L, Dai J S,Sun H.Configuration based synthesis of a Carton-like metamorphic mechanism of foldable and erectable[J].Journal of Engineering Design,2005,16(4):375-386.
    [12]
    王德伦,戴建生. 变胞机构及其综合的理论基础[J].机械工程学报,2007,43(8):32-42. Wand D L,Dai J S.Theoretical foundation of metamorphic mechanism and its synthesis[J].Chinese Journal of Mechanical Engineering,2007,43(8):32-42(in Chinese).
    [13]
    Dai J S, Rees J J.Matrix representation of topological changes in metamorphic mechanisms[J].ASME Transaction:Journal of Mechanical Design,2005,127(4):675-682.
    [14]
    刘川禾. 变拓扑机构结构组成理论[J].机械工程学报,2012,48(19):52-58. Liu C H.Structure composition theory of variable topology mechanisms[J].Journal of Mechanical Engineering,2012,48(19): 52-58(in Chinese).
    [15]
    Dai J S, Wang D L.Geometric analysis and synthesis of the metamorphic robotic hand[J].Journal of Mechanical Design,2007,129(11):1191-1196.
    [16]
    Wang Z Y, Ding X L,Xie Y W.Conceptual design of a novel robotics system for planetary exploration[C]//Proceedings of the 6th World Congress on Intelligent Control and Automation.Piscataway,NJ:IEEE Computer Society,2006:8962-8965.
    [17]
    杨廷力,刘安心, 罗玉峰,等.机器人机构拓扑结构设计[M].北京:科学出版社,2012:138-150. Yang T L,Liu A X,Luo Y F.Theory and application of robot mechanism topology[M].Beijing:Beijing Science Press,2012:138-150(in Chinese).
    [18]
    Zhang L P, Wang D L,Dai J S.Biological modeling and evolution based synthesis of metamorphic mechanisms[J].Journal of Mechanical Design,2008,130(7):07230301-07230310.
    [19]
    Tian W, Zhou W X,Zhou W.Auto-normalization algorithm for robotic precision drilling system in aircraft component assembly[J].Chinese Journal of Aeronautics,2013,26(2):495-500.
    [20]
    王珉,薛少丁, 陈文亮,等.面向飞机自动化装配的单向压紧制孔毛刺控制技术[J].航空制造技术,2011(9):26-29. Wang M,Xue S D,Chen W L,et al.One-side pressed burrless drilling technology for aircraft automatic assembly[J].Aeronautical Manufacturing Technology,2011(9):26-29(in Chinese).
    [21]
    黄真,赵勇生, 赵铁石.高等空间机构学[M].北京:高等教育出版社,2006:118-127. Huang Z,Zhao Y S,Zhao T S.Advanced spatial mechanism[M].Beijing:Higher Education Press,2006:118-127(in Chinese).
    [22]
    谢志江,孙小勇, 孙海生,等.低速风洞动态试验的高速并联机构设计及动力学分析[J].航空学报,2013,34(3):487-494. Xie Z J,Sun X Y,Sun H S,et al.Mechanism design and dynamics analysis of high speed parallel robot for dynamic test in low speed wind tunnel[J].Acta Aeronautica et Astronautica Sinica,2013,34(3):487-494(in Chinese).
    • Relative Articles
    • Supplements(0)
    • Cited By
  • 加载中

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索
    Get Citation
    PDF
    XML

    Article Metrics

    Article views(1162) PDF downloads(749) Cited by()
    Proportional views
    Related

    Copyright © Journal of Beijing University of Aeronautics and Astronautics

    Address: Editorial Department of Journal of Beijing University of Aeronautics and Astronautics, 37 Xueyuan Road, Haidian District, Beijing Post Code: 100191 Email: jbuaa@buaa.edu.cn

    Supported by: Beijing Renhe Information Technology Co., Ltd.    

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return