| Aircraft duck wings and tails are installed through peg-hole assembly with unilateral clearance less than 0.04mm.Due to big inertia force and contact force,simple digital measurement technology based on laser tracker can’t satisfy.To solve the problem of aircraft components high precision peg-hole assembly,combining with the research achievements on posture alignment platform of Zhejiang University aircraft assembly research group,develop passive compliant device to meet the requirement of aircraft components peg-hole assembly.Taking high precision automatic peg-hole assembly technology of large component as the research object,the dissertation mainly studies the compliant assembly system design and implementation,and verified by experiment.The main contents include:Firstly,development of the aircraft digital assembly technology is introduced.Based on the weakness of duck wings and tails peg-hole assembly technology,the current research status of compliant peg-hole assembly technology is analyzed.Secondly,according to the basic theory of compliant peg-hole assembly,compliant wrist is taken as an example to present the modeling methods.Quasi-static analysis is carried out on the contact state with the simulation followed,jamming,wedging,and affection of the remote compliant center is analyzed.Thirdly,based on the assembly requirements of duck wings and tails,compliant assembly system integrated with posture alignment system and 5-DOF passive compliant device is proposed with structure and parameter design process.Then the compliant assembly experiment platform,assembly algorithm of feed axis and the experimental process are proposed.The characteristic of feed axis torque value is analyzed on different stages of assembly process.Experiments show that under the position error of 1mm and posture error of 0.1 °,compliant platform can effectively complete the assembly task.At last,the work of the dissertation is summarized,and the future research is discussed. |
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