面向飞机柔性装配的航空制孔实验平台

自动钻铆技术是新一代飞机数字化柔性装配研制的关键技术之一。随着我国ARJ21和C919大飞机的研制,将钻铆技术和智能机器人控制相结合,解决低成本、柔性且满足高质量制孔要求的柔性轨道航空制孔问题的需求越来越迫切。为了使学生能够了解飞机自动钻铆与机器人机构和控制的原理及基本设计方法,设计并实现了基于柔性轨道的航空制孔实验平台。本文主要介绍了实验平台的硬件环境、软件控制框架、机器人控制的设计流程和实验测试方法。该实验平台在实验教学中取得了良好的效果,通过提出自动钻铆与机器人智能控制的实验契合点,在一定程度上提升了飞机装配中的自动制孔的教学水平,有助于培养具有良好自动制孔机器人开发能力的复合型人才。

The design and implement of aeronautical drilling experimental platform based on flexible track

Automatic drilling technology is one of the key technologies of the next generation development of ARJ21 and C919 aircraft, it is very important to research and develop low--cost, of aircraft development. With the flexible and high quality flexible track drilling robot system,which not only realizes the drilling automation but also reduces the costs. The automatic drilling experimental platform based on flexible track is designed and implemented, which makes the students more easily study the aircraft automatic drilling,riveting,robot mechanism, control principle and the basic design method. The hardware design, software control framework,robotic control process and experimental testing method are introduced in this paper. The experimental and teaching results verily the validity of the automatic drilling experimental platform, which integrates automatic drilling and intelligent robotic control technology. The experimental platform is useful for teaching the e automatic drilling of aircraft assembly.