Hybrid Robot Design For Aircraft Assembly Automation

Digital and flexible assembly is the latest development of aircraft assembly technology direction.Based on robot aircraft automated assembly is a hot research topic in the field of aviationmanufacturing at home and abroad. At present, the domestic developed robotic automation equipmentbased on the industrial robot platform development. However, because the robot structure stiffnessand positioning accuracy is poorer, it is difficult to meet the requirements of efficient and high qualityassembly of titanium and other difficult to machine materials. Hybrid robot is suitable for the modemindustrial applications in which the requirements for big workspace, high stiffness and goodtechnological efficiency etc. It attracted much attention in academia and industry, and has beenapplied successfully to the aircraft manufacturing enterprises in abroad. In this paper, the mainlyresearch result is as follows:1) The design characteristic of a hybrid robot and aircraft assembly process requirements aredescribed. The two3-DOF plane-symmetry3-SPR parallel manipulators were analyzed. By analyzingthe obtained3-SPR institutional structure that could satisfy the requirement of aircraft assembly,then hybrid robot configurations were determined.2) Based on the structural characteristics of the robot, the explicit solution on the inversedisplacement analysis of the manipulator. Closed-loop vector method is adopted to establish the robotmoving platform the mapping relationship between speeds and drive branched chain. And velocityJacobian matrix is educed. Based on the Jacobi matrix of robot singular configuration is analyzed.Then, get the robot in the workspace without singular important conclusions.3) On the basis of the complete robot scale parameter design, the hybrid robot kinematic pairstructure design. Then numerical prototype of hybrid robot is built. According to the prototype model,using the finite element analysis method for the static stiffness of the robots under the typical attitudeis analyzed.4) According to characteristics of hybrid robot assembly system movement, he robot trajectorythe trajectory is planned. On this basis, the design scheme of robot control, realize the keycomponents of communication interface design.