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针对飞机装配中的机器人制孔垂直度问题,设计了一种双偏心盘调姿机构.首先采用4个激光传感器测量工件制孔点处的法向量,求出钻头中心线与调姿平面的交点.然后计算调姿机构需转过的角度,调姿电机驱动该调姿机构对钻头姿态进行调整.该机构的特点是在保持钻头顶点不动时,调整钻头姿态.因此,避免了二次移动钻头位置.最后,在ADAMS中对该调姿机构做了仿真,并在机器人制孔平台上做了制孔实验,验证了其原理的正确性.
Aiming at the problem of the verticality of the hole in the robot assembly, a double eccentric disc attitude adjustment mechanism is designed.Firstly, four laser sensors are used to measure the normal vector at the hole making point of the workpiece, and the intersection of the center line of the bit and the plane of attitude adjustment Then calculate the angle that the attitude adjusting mechanism needs to turn over and the attitude adjusting motor drives the attitude adjusting mechanism to adjust the attitude of the bit.The feature of the mechanism is to adjust the attitude of the bit while keeping the bit apex stationary so as to avoid the secondary movement Bit position.Finally, the attitude adjustment mechanism was simulated in ADAMS, and the hole experiment was done on the robot hole platform to verify the correctness of the principle.