柔性导轨制孔机器人及变刚度技术研究现状

柔性导轨制孔机器人属于轻型自主移动式制孔设备当中的典型代表,具有小型化、成本低等特点,引起了国内外飞机制造厂商的重点关注。然而,由于导轨柔性不足,限制了其应用范围,只适合于飞机大部件、小曲率表面的制孔和装配。为解决此问题,扩大其应用范围,本文对柔性导轨制孔机器人、变刚度技术进行了综述,创新性的提出了变刚度柔性导轨技术与导轨制孔机器人技术相结合的方案。

Research status of flexible guideway drilling robot and variable stiffness guideway

As a representative of light-duty automatic drilling equipment, flexible guideway drilling robot has the characteristics of independent movement, convenient installation and low cost, which is favored by the world"s major aircraft manufacturers. However, due to the lack of flexibility of the guide rail, its application scope is limited. It is only suitable for the drilling and assembly of large parts and small curvature surfaces of aircraft. In order to solve this problem and expand its application scope, this paper summarizes the flexible guideway drilling robot and variable stiffness technology, and puts forward the innovative scheme of the combination of variable stiffness flexible guideway technology and wall climbing robot technology.