飞机起落架全方位移动装配机器人设计与研究

起落架作为支撑飞机重量、吸收撞击能量的重要部件,在装配和试验过程中面临着装配空间狭小、装配精度高等特殊要求,急需研制一款具备可移动、多自由度调节功能的柔性装配平台。通过对起落架装配需求进行分析,设计出基于Mecanum轮的全方位移动和基于3–RPS的并联机构组成的6自由度装配机器人,详细介绍了装配机器人的结构组成、控制方法,对机器人运动学特性进行分析获得运动学模型,并进行运动学参数设置及精度分析。通过对起落架装配机器人精度测试以及实物装配,验证该机器人的功能和性能满足使用要求。

Design and Research of Aircraft Landing Gear Omni-Directional Mobile Assembly Robot

As an important part supporting the weight of aircraft and absorbing the impact energy,landing gear is faced with the special requirements of narrow assembly space and high assembly precision in the process of assembly and test.Therefore,it is urgent to develop a flexible assembly platform with movable and multi-degree of freedom adjustment functions.Through analysis of gear assembly requirements,the 6-DOF assembly robot was designed based on Mecanum wheel omni-directional mobile and 3–RPS parallel mechanism.The structure and control method were introduced in detail.By analyzing robot kinematics characteristics,a kinematics model was obtained,and the kinematic parameters and accuracy are analyzed.Finally,through the landing gear assembly test,the function and performance of the robot can meet the operational requirements.