Development Of Parallel Robot For Aircraft Interior Assembly

The parallel robot has the characteristics of high positioning accuracy,small volume,good rigidity and large carrying capacity.It has wide application prospects in the field of precision adjustment and assembly.For the problem of small aircraft internal space,high manual assembly strength and low efficiency,this paper develops a parallel robot.Its purpose is to accurately locate and complete the top riveting work inside the aircraft cabin,and cooperate with other intelligent equipment to realize intelligent assembly of aircraft.Firstly,according to the design technical indicators,the configuration of the parallel robot in this paper is 6-PTRT type.The inverse solution of the position of the parallel robot is derived by the geometrical constraints,and the display expression of the jacobian matrix is constructed by the vector method.The Newton iterative method based on jacobian matrix is used to solve the positive solution.The correctness and practical application of the positive solution are also verified by examples.Secondly,the average and fluctuation value of global condition number are weighted to obtain the optimization objective function.Taking into account the optimization of the objective function value and the size of the workspace,the dimensional synthesis of the parallel robot is completed.Based on the optimized key size combination,the global workspace traversal method is used to get the maximum static force to guide the structural design.Combined with the optimized key size and maximum static force,the design ideas of the parallel robot driving platform,the branch and the moving platform are introduced in detail.In order to ensure the performance of the parallel robot in this paper,the attitude position working space and the fixed position attitude working space are analyzed by the dimensionality reduction method.Through the calculation of the determinant value of the jacobian matrix of the global workspace,it is determined that there is no singularity in the working space of the parallel robot.The combination of Solidworks and ADAMS is used to simulate the motion of the parallel robot,and the simulation results show that no interference occurs during motion,which verifies the rationality of the structure.Dynamic analysis and modeling of parallel robots are carried out,and the correctness of the dynamic model is verified by the comparison between Matlab numerical calculation and ADAMS virtual simulation,which provides a theoretical basis for trajectory planning and model-based control based on inverse dynamics.Finally,due to the stability and reliability requirements of parallel robot motion control,the hardware design of the parallel robot control system is completed,and the control system software is written by Lab VIEW.With the kinematics model,the position control of the parallel robot is controlled by the branch PID control algorithm,and the trajectory planning of the joint space point motion is carried out.Motion interference test,workspace measurement,motion resolution and repeat positioning accuracy test are carried out on the parallel robot test platform to provide reference for further research.