Research On Key Technologies Of A Parallel Robot For Rivet Holder Inside Aircraft Cabins

Taking a 6-HTRT parallel robot guided by parallel guideway as the research object,this dissertation deals with the problems in the practical application of holder robots in aircraft skin riveting.The key technologies such as forward and inverse kinematics,dynamic analysis,dimension error calibration and control system development are studied.Under the premise of stable and reliable,to maximize the advantages of parallel robot structure in collaboration with other equipment is the ultimate target for the realization of aircraft assembly automation.Firstly,the forward and inverse kinematics of 6-HTRT parallel robot is studied.The geometric vector method is used in the inverse kinematics,and to verify the correctness of the inverse kinematics,a 3D visualization program is written.The idea of linearization is used in the forward kinematics to obtain the approximate,which is taken as the initial value of Newton iterative method to solve the numerical solution.The kinematics simulation is carried out by DELMIA software to verify the convergence of the forward kinematics and the feasibility of practical application.Secondly,the mechanical analysis of 6-HTRT parallel robot is studied.The velocity,acceleration and partial velocity of each part are calculated by using the influence coefficient method.The dynamic equation of the parallel robot is also constructed by using the Kane method,whose result is compared with what calculated by ADAMS.Besides,the driving force of the motor is validated using the kinematic equation and the ideal model of the robot.The experiment shows that the load capacity of parallel robot can meet the requirements.Thirdly,the static error calibration method of 6-HTRT parallel robot is studied.The vector derivation method is used to establish the error equation of the parallel robot,and the iterative error parameter identification method based on the forward kinematics solution is improved by using the equation.Finally,the control system of 6-HTRT parallel robot is developed,which has accurate motion positioning,normal alignment ability and perfect error self-checking function.The motion control software for the parallel robot is also compiled,which can be perfectly integrated into the master control software of intelligent drilling and riveting system to cooperate with other equipment to complete the riveting of aircraft skin.