【作者】 陈琪；

【导师】 李江雄；

【作者基本信息】 浙江大学 ， 机械制造及其自动化， 2008， 硕士

【摘要】 在传统的飞机装配中,需要采用大量的装配型架,用于夹紧、定位、支撑飞机的各个部件,然后通过人工辅助进行对接装配。这种装配方法的自动化程度低,产品生产效率低下,质量不稳定,对不同产品的适应性差。为了克服传统的基于固定型架的模拟量装配的缺点,现代飞机装配普遍采用一种基于三坐标POGO柱的数字化柔性装配技术。本文首先回顾了基于模拟量的传统飞机装配方式,分析了并联机构、多机器人位姿调整机构的应用情况和优缺点,提出了论文的研究目标和主要内容。其次,对数字化飞机装配基础单元一一三坐标POGO柱进行了结构设计与原理分析。对POGO柱的驱动元件伺服电机、传动元件滚珠丝杠的选择进行了详细的设计计算和分析。第三,对三坐标POGO柱进行静力学分析,采用有限元分析软件ABAQUS对调姿机构的主要零件进行刚度及强度分析,获得应力、应变图,从而校核零件的强度和刚度,并对危险部位进行优化设计。然后对主要零件进行了模态分析,预知可能产生共振的危险部位,获得结构改进的依据。第四,建立POGO柱单轴位置伺服系统的数学模型,用simulink仿真和实验分析相结合的方法,对三坐标POGO柱的动态特性进行了分析。结果表明,三坐标POGO柱能够快速、准确地跟踪位置指令,并具有很好的抗干扰性,能够提高飞机调姿和装配的质量和效率。最后,总结论文的主要工作,并指出未来研究的方向。更多还原

【Abstract】 In traditional airplane assembly, amounts of assembly frames are used to clamp, fix, and hold the components of aircraft which then will be joint and assembled by manual work. This method will lead to low automatization, low product efficiency, instable quality, and poor adaptability to other sort of product. In order to overcome the defect of traditional assembly which based on fixed frames, one kind of flexible assembly technology based on flexible parts like POGO sticks with 3-DOF is widely used in modern airplane assembly.Firstly, we reviewed the analog based traditional assembly of aircraft assembly and analyzed the application, advantage and disadvantage of parallel mechanism and muti-robots pose-adjustable system. Then put forward the aim and meaning of this paper.Secondly, with regard to the flexible basic part in aircraft assembly--POGO stick with 3-DOF, we designed its configuration and analyzed the principle accordingly. Mainly designed and calculated the driving element servo motor and transmission component ball screw.Thirdly, we analyzed the characteristic of POGO stick in statics including stiffness and intensity analysis of central components of pose-adjustment mechanism. Thus we gained the stress and displacement nephograms to check the stiffness and intensity and lead optimizing design according to risky parts. With regard to main components, modal analysis was applied to predict the risky situation where resonance occurred, and then proof will be gained.Fourthly, to analyze its dynamic characteristic, the system model was established and the relative transfer function was derived. By Matlab-based simulation and experimental analysis, it was concluded that this system can promptly and exactly trace the position command with a good anti-jamming capability. It can improve the quality and efficiency of aircraft pose-adjustment and assembly.Finally, summarized the whole work of the thesis, and discussed the future work.更多还原