Flexible Tooling And Attitude Changing Device Of Aerospace Cabin Structure Design And Simulation

In this paper,the flexible tooling and attitude changing device of aerospace cabin are taken as the research objects.Then the theoretical and simulation research on the structure and kinematics of flexible tooling is carried out.In this paper,research of structure design,kinematics analysis,structural statics and over-constrained etc.is conducted,which provides a new perspective for the design of spacecraft section tooling and lays a foundation for the further study and application of flexible tooling.First of all,according to the technical requirements of the installation of the cabin,the scheme of the mechanism of the flexible tooling and the attitude changing device is designed,and three solutions are proposed.Then taking the degree of automation,complexity,safety etc.into account the final scheme is selected.The selected program is for the detailed structural design and the selected calculation of the transmission system,driving components and other standard parts.Secondly,the kinematic positive and negative solution equation is deduced and the single-arm and the overall working space are drawn by MATLAB.Then the negative solution of the 3-RPR Self-aligning mechanism is calculated and the simulation model of the mechanism using Adams software is established to obtain the output force and displacement curve of the driving element of the mechanism.Thirdly,in order to simplify the flexible tooling model and remove the structure and some features that have a weak influence on the results of finite element analysis,finite element analysis is carried out in ANSYS Workbench.The deformation and stress cloud at the limit position are obtained according to static analysis of flexible tooling after equivalent treatment of standard parts such as bearings and bolts and by setting the contact between parts,dividing the grid,adding the load and other boundary conditions to the model to verify tooling stiffness and strength requirements.Finally,the constraint of the flexible tooling is analyzed and the stiffness matrix of the single-arm and the overall stiffness matrix is obtained based on the theory of over-constrained parallel mechanism.According to the deformation coordination equation of the parallel mechanism,the restraining reaction force at the tip of the flexible tooling manipulator is obtained,and the result of the theoretical calculation is verified by the finite element method.The result of this paper provides new ideas for solution of over-constrained problems in practical engineering.