| Aircraft assembly in a key position in the aircraft industry,in the actual assembly process very much connection leads to a particularly large workload.So hole making of the skin is critical in the aircraft assembly,and the application of drilling robot in the process of is very important.In foreign countries,the application of drilling and riveting system has been more extensive,and with the continuous development of the corresponding technology,the light automatic drilling system has emerged.However,China’s involvement in this field is relatively basic,so it is of great strategic significance to study the hole-making robot for aircraft skin.In this paper,a drilling robot with small structure and light weight is proposed.The research on this robot mainly includes the following aspects:First of all,according to the collected domestic and foreign related literature of the drilling system the research situation of this technology are analyzed,and the research content of this article is determined.Secondly,put forward the requirements of the drilling robot in this paper,and analyses the requirements of robot is classified according to the function,and got the overall design scheme of the robot.Thirdly,according to the existing functional modules,the designed robot with integral framework is designed in detail.Its motion principle is analyzed,and its structure is optimized so that it can have the smallest external size and the most reasonable force to meets the design requirements.The structure enables the robot parts to have reasonable force in the work.The strength and stiffness of the main components and the whole machine are checked to ensure that the robot can meet the design requirements in its work.The design of the finished components is selected.The specific model of the robot is obtained by building a three-dimensional model in Soliworks.Fourthly,the kinematics analysis of the robot is carried out to verify the correctness of the robot mechanism in this paper,and the workspace of the robot is obtained.The simulation process is carried out in Matlab software.The dynamic analysis of the robot is carried out.It verifies the selection and check of the driving elements of each joint.In Adams software,the dynamics of each movement of the robot is analyzed.Finally,on the basis of the above work,the prototype of the hole-making robot in this paper is manufactured,and its driving system is designed simply,and its function is verified. |
