变曲率飞机壁板钻铆执行机器人的设计与仿真

摘要

An automatic drilling and riveting robot was designed,consisting of end actuators and a multi-joint rotary robotic arm.The end-effector achieves the operation substitution between different executions unit stations through swinging a conversion table by virtue of its indexing swinging structure.The end-effector works together with the rotary joints of the manipulator to achieve the flexible automation of processing and assembling.The MATLAB simulation was adopted to obtatin the arm motion trajectory,and then the characteristics of the motion space of rotary mechanical arm were tested by using ADMAS simulation.The motion trajectory of the arm can meet the needs of variable curvature panel production.%自动钻铆执行机器人设计结构由末端执行器和多关节旋转机械臂组成。末端执行器通过转台结构的分度摆动实现不同执行部件工位的转换。末端执行器通过与旋转关节机械臂的协同作用，实现柔性自动化加工装配。用MATLAB软件仿真得到该机械臂的运动空间轨迹，再通过ADAMS软件仿真检验旋转机械臂的运动空间特性，满足变曲率壁板生产的需要。