一种机器人化飞行器柔性工装系统研究

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。%Ab 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 hi- erarchical control structure based on the analysis of the system control structure. In addition, the de- sign and analysis of the control hardware and software was also illustrated.