航空制孔末端执行器中调姿机构的设计与实验

针对飞机装配中的机器人制孔垂直度问题，设计了一种双偏心盘调姿机构.首先采用4个激光传感器测量工件制孔点处的法向量，求出钻头中心线与调姿平面的交点.然后计算调姿机构需转过的角度，调姿电机驱动该调姿机构对钻头姿态进行调整.该机构的特点是在保持钻头顶点不动时，调整钻头姿态.因此，避免了二次移动钻头位置.最后，在ADAMS中对该调姿机构做了仿真，并在机器人制孔平台上做了制孔实验，验证了其原理的正确性.

Design and experiment of adjusting mechanism in aviation drilling end effector

Aiming at the robot drilling perpendicularity in aircraft assembly, an adjusting attitude mechanism was designed using double eccentric discs. First, the normal at the drilling point was measured by four laser range sensors and the intersection point of the normal and the adjusting plane was calculated. Then the angles of eccentric discs should be rotated can be obtained and adjusting motors drived the mechanism to adjust the drill's attitude. The trait of the mechanism is that the drill's point can keep static when adjusting the drill's attitude. Thus, it can be avoided to remove the drill's point position. A model was simulated in ADAMS and a drilling experiment was done on a robot drilling system and both the results prove the principle of adjusting attitude mechanism.