Research Of Autonomous Mobile Mechanism For Aircraft Assembly

With the aviation industry growing, there have been constantly increasing demand uponassembly efficiency, assembly quality. Advanced automatic assembly system and flexible assemblytechnology in modern aircraft manufacturing process is to get more applications, The autonomousmobile mechanism, key component of autonomous mobile drilling system was designed in this paper.At the same time application process of the autonomous mobile automatic drilling system applicationprocess is studied. Main work and studying contents of the article are as follows:1. The function requirements of autonomous mobile mechanism for aircraft assembly wereanalyzed, combining with the specific technical requirements of aircraft assembly.The key points ofdesigning the autonomous mobile mechanism were analyzed. Provide a summary description forcontrol system of the autonomous mobile mechanism. Finally propose two design schemes ofautonomous mobile mechanism.2. The principles that the mechanism can perform motions were analyzed by usingreciprocal screw theory. The solution to inverse kinematic problem and mechanism of comprehensivewere analyzed based on mechanism structure analysis theory. The better design schemes was chosen,which based on comparison and analysis.3. The detailed design for autonomous mobile mechanism was given. The three-dimensionalmodel of the autonomous mobile mechanism was built. The statics performance of frame wasanalyzed based on the finite elememt method, and the performance of the autonomous mobilemechanism when normalizing was analyzed based on the virtual prototype model.4. The summary description for automatic drilling key technology was provided. For the drillingprocess technology in one-side pressure of aircraft assembly, the critical process parameters, pressureand Tack Fasteners Install Position was analyzed base on the finite elememt method. And theOptimization of pressure and Tack Fasteners Install Position was achieved.The development of autonomous mobile mechanism was accomplished and has achieved theexpected targets. The system was stable, reliable, and had the walking function and normal postureadjusting function which was required for automatic drilling on aircraft surface. The research havingdone could be the technology support for domestic self-develop aircraft automated assembly system.