Study On Stable Walking Technology In Lightweight Autonomous Mobile Drilling System

With the continuous progress of the large aircraft project,the traditional method for drilling and fastening the abutments of the large parts could not fulfill the requirement of the aircraft assembly,so the need for a new way is put forward.As a new type of aircraft assembly automation solution,the light autonomous mobile drilling system has rapidly become a research hotspot in the field of aviation manufacturing because of its flexibility,miniaturization and intelligence.This article mainly studies the stable walking technology of the lightweight autonomous mobile drilling system.The main research content is as follows:(1)According to the requirement analysis of the walking function of the drilling system,the overall design plan of the lightweight autonomous mobile platform is put forward,including the design of the walking mechanism,the structure design of the walking mechanism,the design of the integrated control system and the design of the walking mechanism's walking process.(2)The hardware integrated control scheme for walking mechanism is designed and the mathematical model of walking mechanism is established,and analyzing the servo control strategy of single motor and multi-motor in detail,putting forward the control method of leg in-position based on motor load torque and the control scheme of vacuum adsorption system.(3)The experimental platform was built to test and analysis the walking adsorption experiment.At the same time,the running stability and adsorption reliability of walking mechanism under different states were analyzed experimentally,which provided the experimental basis for optimizing the pose of walking mechanism during walking.(4)Through analyzing the reasons for the body instability and the change of position and posture when the drilling system walking,a technical scheme for position and posture correction is proposed.And the experiment is used to verify,the experimental results show that the proposed scheme can reduce the body sloshing and the change of the position and posture of the drilling system during walking,and ensure the drilling system walk stably.