【摘要】 飞机结构件连接以机械连接为主，连接孔的位置精度和表面质量对飞机的使用寿命及安全性有着重要影响。制孔设备的智能化、自动化、柔性化直接影响着飞机制造的质量、效率、成本等。国内对于自动化制孔设备的研究与应用还在较为初级的阶段，并未大规模投入使用，研制此类设备具有重大意义。为此研制了爬行制孔机器人，并使用旋量法针对研制的爬行制孔机器人的运动进行计算分析。首先，计算爬行制孔机器人的调姿以及纠偏运动的自由度，随后对该机器人的调姿和纠偏运动进行解算，并分析了机器人运动过程中的运动特点，为未来控制系统设计打下基础。更多还原

【Abstract】 The connection of aircraft structural parts is mainly mechanical connection. The position accuracy and surface quality of the connection holes are important to the service life and safety of the aircraft. The intelligence,automation, and flexibility of hole-making equipment directly affects the quality, efficiency, and the cost of aircraft manufacturing. However, the domestic research and application of automated hole-making equipment is still at a relatively early stage and has not been put into use on a large scale. Therefore, the development of such equipment is of great significance and a crawling hole-making robot was developed, and the motion of the developed crawling hole-making robot was calculated and analyzed using the spin method. First, calculate the degree of freedom of the crawling holemaking robot’s posture adjustment and correction movement, and then solve the robot’s posture adjustment and correction movement, and analyze the movement characteristics of the robot during the movement, laying the foundation for the future control system design.更多还原