| With the development of national defense industry,the degree of the level of the development of aviation,aerospace and long-range weapons in more and more determ ines a country’s competition strength,the quality and quantity requirements of the Chi nese army in the future will be more and more high.The assembly of the missile pla ys an important role in the manufacturing process of the missile.It is the key and co re technology of the missile manufacturing.The missile assembly is the last phase of the assembly,and the cabin docking is the main contents of the missile assembly.China’s current missile assembly is still using the traditional method of the former Soviet Union in twentieth Century sixty or seventy,the assembly efficiency is low,t he precision of assembly and quality can’t be guaranteed,can’t meet the efficiency an d economy of modern missile manufacturing requirements.At present,the related tech nology and hardware equipment of missile automatic docking have been monopolized by foreign companies for a long time,which severely restrict the improvement of our country’s national defense construction ability.Therefore,this paper takes a type of c abin docking products as the research object,completing the design of intelligent asse mbly docking platform,and do research of the measurement system,error of adjusting mechanism,trajectory planning of alignment process.The main contents of the presen t dissertation are as follows:(1)Summarizes the research status of domestic and foreign auto docking assembly related areas,and analyzes the process characteristics of missile manufacturing assembl y.Design of missile intelligent assembly docking platform,and the platform of the wo rking principle and structure design are introduced in detail.(2)The D-H method is used to establish the coordinate system of the adjusting m echanism,and the mathematical model of the static position and attitude error of the adjusting mechanism is established by using the method of micro displacement synthes is.Based on the reliability mechanism as the evaluation criteria,using Monte Carlo m ethod to analyze the impact of error parameters of each joint adjustment mechanism o f the total error,and analyzed the error component joint and the greatest impact on th e adjustment mechanism of error.(3)Long cabin using two sets of adjusting mechanism of two support.By using t he perturbation vector chain establishment adjustment mechanism structure dimension e rror,installation error and error driven model.Through the sensitivity analysis of the i mpact of the error source of the system error.(4)Complete the structural design of the adjusting mechanism,using ANSYS soft ware to analyze the key components of the mechanism.The operation to verify the ac curacy of the adjustment mechanism,guarantee mechanism accuracy meets the design requirements.(5)Study on automatic docking missile attitude adjusting strategy,using the five degree polynomial interpolation method plan the trajectory of each joint,and to avoid the overshoot and adjustment time optimal motion as the goal,to complete the optimi zation of the trajectory.Finally,the simulation of the mechanism motion trajectory pla nning is completed by Adams. |
