面向飞机自动化装配的制孔末端执行器的设计.pdf

DOI: 10. 1 35 /j . 1005 -2 15.2012. s1.01 44 　　　　　　　　　 Vol. 44 No. S 　 　　　 20124 Journal of Nanjing University of Aeronautics Astronautics　 　　　　Apr. 2012 1 1 1 2 2 2 王　建　刘　浩　田　威　万世明　刘　勇　李东明 ( 1. ,, 21001 ; 2.(),, 10092) : 末端执行器是飞机装配的关键部件之一,其性能直接影响到制孔和铆接的质量, 破面向飞机自动化装配 的末端执行器结构设计关键技术具有迫切的实际需求。首先,根据行业需求提出了末端执行器的总体结构,并分 析了工作原理,在此基础上对末端执行器的主要功能部件进行了设计, 最后研制出一套具备制孔、压紧和法向找 正的试验样机,试验结果表明,该末端执行器的性能达到了飞机装配的要求。 : 飞机装配; 末端执行器; 机器人; 结构设计 : T P24　　　: A　　　: 1005-2 15(2012) S-0019-04 Design of Drilling End Ef fector f or Aircraf t Automatic Assembly 1 1 1 2 2 2 Wang J ian , L iu H ao , T ian Wei , Wan Sh iming , L iu Yong , L i Dongming ( 1. College of Mechanical and Electrical Engineering, Nanjing Univeristy of Aeronautics Astronautics, Nanjing, 21001 , China; 2. Chengdu Aircraft Indust ry ( Group) Co. Ltd. , Chengdu, 10092, China) Abstract: As end actuator is one of the key components in aircraft automatic assembly based on industry robot its performance directly affects the quality of drilling and riveting The requirement of the struc-, . tural design process of end actuator for key technologies is increasingly urgent Th e overall structure of. end actuator is proposed firstly according to the industry needs, and the operating principle is analyzed. Secondly, the major functional components are designed. Finally , a prototype for a w hole set is devel- , . oped with high capability of pressing drilling and normal alignment Experimental resul