Development Of Parallel Robot For Aeroengine Simulation Nacelle Assembly

With the improvement of Chinese industrial automation rate,more and more industries are implementing large-scale automation reform,while the nacelle automatic assembly of aero-engine is a key part.At present,the automation of assembly process is limited to a great extent due to complicated nacelle parts,low assembly accuracy and other reasons in the nacelle parts assembly process of aero-engine.However,with the constant development of parallel mechanism,compared with serial mechanism,parallel mechanism has multiple advantages and unique characteristics,is widely studied,and is successfully applied in motion simulator,precision machining and other fields.In this context,this paper designs a parallel mechanism which can simulate nacelle automatic assembly,studies the actual needs of nacelle assembly scenario and the mechanism design theories,and realizes automation of assembly process by stimulation.Research contents are as follows:In combination with the actual nacelle assembly environment and the characteristics of parallel mechanism,the structure of parallel mechanism which can realize target motion is analyzed,and it theoretically proves that the motion characteristics of 3PSS-PU mechanism satisfy the needs of engine nacelle automatic assembly.Besides,this paper carries out statics analysis for the mechanism,builds the kinematic model of the mechanism,and gets the forward and inverse position solution,speed and accelerated speed equation of the mechanism.Spatial search method is used to draw the working space of the mechanism.This paper specifically analyzes the influence of the structure parameters of the mechanism on working space and verifies that the working space of the mechanism applies to actual nacelle assembly scenario.The model built by SolidWorks is imported into Simulink simulation module of MATLAB,and the motion control analysis of the mechanism is finished by setting PID simulation controller.Combining with practical scenarios,the assembly and coordination of simulated cabin body and cabin head machining parts were completed through series robots and parallel mechanisms.The machining accuracy of pins between the simulated parts and the assembly process were analyzed to verify the motion characteristics and accuracy of the mechanism.