Research On The Key Technologies Of Autonomous Mobile Mechanism For Aircraft Assembly

With the aviation industry growing, there have been constantly increasing demand uponassembly efficiency, assembly quality and service life. The autonomous mobile mechanism of lightautonomous mobile drilling unit was designed in this paper，which based on the deep study in thedevelopment of domestic and international automated assembly systems. The key technologies ofautonomous mobile mechanism include scheme design and kinematics analysis in theory. The schemedesign is very important for improving perfomance of autonomous mobile mechanism and reducingdevelopment cost, while the latter is a theoretical guarantee to the scheme design. Main work andstudying contents of the article are as follows:1. The function requirement and performance indexes of light autonomous mobile drilling unitfor aircraft assembly were analyzed, combining with the application requirements of automaticassembly systems for aircraft.The principle of autonomous mobile mechanism of light autonomousmobile drilling unit was designed including mobile form, the number of legs, the arrangement form ofthe legs, the structure of the legs, adsorption method and so on based on researching on the currentrobot technology. Three design schemes of autonomous mobile mechanism were proposed.2. The kinematics analysis was worked out to the three design schemes of autonomous mobilemechanism in theory, which based on the analysis of the kinematics analysis theory. The motionfeasibility of the three design schemes of autonomous mobile mechanism was analyzed. The bestdesign was chosen. The solution to inverse kinematic problem when normalizing was given based onspace vector at last, which supports the research of motion control.3. According to the performance indexes of light autonomous mobile drilling unit, the detaileddesign for inner frame, outer frame, lifting legs and passive compensation connectors of lightautonomous mobile drilling unit were given. The relevant design parameters were also calculated.Some parts of the autonomous mobile mechanism were selected. And the section design of theframework of the inner frame was analyzed.4. The three-dimensional model of the autonomous mobile mechanism was built in3D modelingsoftware, and was imported ADAMS to create virtual prototype model based on the detail structuredesign of autonomous mobile mechanism. The performance of the autonomous mobile mechanismwhen normalizing was analyzed based on the virtual prototype model.