面向大型航空结构件的混联柔性制造系统概念设计与性能评估
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摘要
为实现大尺寸弧形航空结构件的高效加工与快速装配,设计了一种弧形导轨加并联操作模块的新型混联柔性制造系统。首先,运用虚拟样机技术设计了柔性制造系统的结构方案。其次,建立了系统的运动学模型,推导了运动学逆解的解析表达,并分析了并联模块的奇异性;在此基础上,提出了一种基于"分层切片"思想的工作空间搜索方法,进而绘制了系统的可达工作空间。再次,采用子结构综合法建立了系统的弹性静力学模型,分析了典型位姿下并联模块在重力作用下的弹性变形,并对其进行了数值仿真验证。最后,提出了一种表征全局静力学性能的指标——平均位移指标,并用其评估了系统工作全域内的静力学性能。研究结果表明:该混联柔性制造系统兼具弧形串联机构工作空间大和并联机构刚度高、承载强的优点;在设计该混联柔性制造系统时,需特别关注重力效应引起的构件变形,且应着力提升并联模块沿x轴方向的抗弯能力和绕y轴方向的抗扭能力。
To realize efficient manufacturing and quick assembling of the arc-shaped aeronautic structural component with large scale,a hybrid flexible manufacturing system consisting of a double circumferential guideway and two parallel kinematic machine(PKM)modules is proposed.A conceptual design of the flexible manufacturing system is carried out with the virtual prototype technology,a kinematic model is established to conduct an inverse kinematic description,and the singularity of the PKM is analyzed.Then the reachable workspace of the system is predicted by using a‘sliced partition'searching algorithm,and an elasto-static model is developed to calculate the gravity-caused elastic displacements of the system by the substructure synthesis technique.The results are validated by numerical simulations on ANSYS Workbench.An index of average displacement is suggested to evaluate the influence of configuration parameter on the system elasto-static performance throughout the entire reachable workspace.The investigations manifest that the flexible manufacturing system claims the merits of a large workspace generated by theserial mechanism and high rigidity and loading capacity coming from the PKM module.The gravity-caused structural deformations must be paid enough attentions during the design stage of the flexible manufacturing system.Additionally,to facilitate its applications,the designers must enhance the bending resistance along x-direction and torsion resistance about y-direction of the hybrid flexible manufacturing system.
To realize efficient manufacturing and quick assembling of the arc-shaped aeronautic structural component with large scale,a hybrid flexible manufacturing system consisting of a double circumferential guideway and two parallel kinematic machine(PKM)modules is proposed.A conceptual design of the flexible manufacturing system is carried out with the virtual prototype technology,a kinematic model is established to conduct an inverse kinematic description,and the singularity of the PKM is analyzed.Then the reachable workspace of the system is predicted by using a‘sliced partition'searching algorithm,and an elasto-static model is developed to calculate the gravity-caused elastic displacements of the system by the substructure synthesis technique.The results are validated by numerical simulations on ANSYS Workbench.An index of average displacement is suggested to evaluate the influence of configuration parameter on the system elasto-static performance throughout the entire reachable workspace.The investigations manifest that the flexible manufacturing system claims the merits of a large workspace generated by theserial mechanism and high rigidity and loading capacity coming from the PKM module.The gravity-caused structural deformations must be paid enough attentions during the design stage of the flexible manufacturing system.Additionally,to facilitate its applications,the designers must enhance the bending resistance along x-direction and torsion resistance about y-direction of the hybrid flexible manufacturing system.
引文
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[14]LOXIN Industrial Technological Group.Loxin Column machine[EB/OL].[2018-03-12].http:∥www.loxin2002.com/movable-structure-column-configuration.
[15]OBEROI H,DRAPER A,THOMPSON P.Production implementation of a multi spindle flexible drilling system for circumferential splice drilling applications on the 777airplane:SAE Technical Paper 2009-01-3090[R].Warrendale,PA,USA:SAE,2009.
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[17]TANG Tengfei,ZHAO Yanqin,ZHANG Jun,et al.Conceptual design and workspace analysis of an Exechon-inspired parallel kinematic machine[M]∥DINGX,KONG X,DAI J S.Advances in Reconfigurable Mechanisms and Robots:II.Cham,Germany:Springer International Publishing,2016:445-453.
[18]黄真,赵永生,赵铁石.高等空间机构学[M].北京:高等教育出版社,2006:61-74.
[19]汤腾飞,张俊,赵艳芹.类Exechon并联模块弹性静力学建模与分析[J].上海交通大学学报,2017,51(8):992-999.TANG Tengfei,ZHANG Jun,ZHAO Yanqin.Kinetostatic modeling and analysis of an exe-variant parallel kinematic machine[J].Journal of Shanghai Jiaotong University,2017,51(8):992-999.
[20]LI Q,WANG M,HUANG T,et al.Compliance analysis of a 3-DOF spindle head by considering gravitational effects[J].Chinese Journal of Mechanical Engineering,2015,28(1):1-10.
[2]SUMMERS M.Robot capability test and development of industrial robot positioning system for the aerospace industry[J].Journal of the Egyptian Medical Association,2005(5/6):121-124.
[3]许国康.大型飞机自动化装配技术[J].航空学报,2008,29(3):734-740.XU Guokang.Automatic assembly technology for large aircraft[J].Acta Aeronautica et Astronautica Sinica,2008,29(3):734-740.
[4]EGUTI C C A,TRABASSO L G.Design of a robotic orbital driller for assembling aircraft structures[J].Mechatronics,2014,24(5):533-545.
[5]何晓煦,田威,曾远帆,等.面向飞机装配的机器人定位误差和残差补偿[J].航空学报,2017,38(4):287-297.HE Xiaoxi,TIAN Wei,ZENG Yuanfan,et al.Robot positioning error and residual error compensation for aircraft assembly[J].Acta Aeronautica et Astronautica Sinica,2017,38(4):287-297.
[6]王杭,沈建新,田威,等.机器人柔性钻孔控制系统的设计与实现[J].南京航空航天大学学报,2012,44(s1):65-68.WANG Hang,SHEN Jianxin,TIAN Wei,et al.Design and implementation of robot flexible drilling control system[J].Journal of Nanjing University of Aeronautics&Astronautics,2012,44(s1):65-68.
[7]HENNES N,STAIMER D.Application of PKM in aerospace manufacturing-high performance machining centers ECOSPEED,ECOSPEED-F and ECOLINER[C]∥Proceedings of the 4th Chemnitz Parallel Kinematics Seminar.Zwickau,Germany:Verlag Wissenschaftliche Scripten,2004:557-577.
[8]NEUMANN K E.Tricept applications[C]∥Proceedings of the 3rd Chemnitz Parallel Kinematics Seminar.Zwickau,Germany:Verlag Wissenschaftliche Scripten,2002:547-551.
[9]NEUMANN K E.Exechon parallel kinematics,simplified machining and assembly:SAE Technical Paper2009-01-3092[R].Warrendale,PA,USA:SAE,2009.
[10]ZHANG J,ZHAO Y Q,CECCARELLI M.Elastodynamic model-based vibration characteristics prediction of a three prismatic-revolute-spherical parallel kinematic machine[J].ASME Journal of Dynamic Systems,Measurement,and Control,2016,138(4):041009.
[11]CACCAVALE F,SICILIANO B,VILLANI L.The tricept robot:dynamics and impedance control[J].IEEE/ASME Transactions on Mechatronics,2003,8(2):263-268.
[12]张俊,赵艳芹.Exechon并联模块的静刚度建模与分析[J].机械工程学报,2016,52(19):34-41.ZHANG Jun,ZHAO Yanqin.Stiffness modeling and evaluation for Exechon parallel kinematic machine module[J].Journal of Mechanical Engineering,2016,52(19):34-41.
[13]DIRECT Industry Company.ECOSPEED Line[EB/OL].[2018-03-12].http:∥pdf.directindustry.com/pdf/ds-technologie/ecospeed-line/9031-111034_4.html.
[14]LOXIN Industrial Technological Group.Loxin Column machine[EB/OL].[2018-03-12].http:∥www.loxin2002.com/movable-structure-column-configuration.
[15]OBEROI H,DRAPER A,THOMPSON P.Production implementation of a multi spindle flexible drilling system for circumferential splice drilling applications on the 777airplane:SAE Technical Paper 2009-01-3090[R].Warrendale,PA,USA:SAE,2009.
[16]ZHU W,MEI B,KE Y.Kinematic modeling and parameter identification of a new circumferential drilling machine for aircraft assembly[J].The International Journal of Advanced Manufacturing Technology,2014,72(5):1143-1158.
[17]TANG Tengfei,ZHAO Yanqin,ZHANG Jun,et al.Conceptual design and workspace analysis of an Exechon-inspired parallel kinematic machine[M]∥DINGX,KONG X,DAI J S.Advances in Reconfigurable Mechanisms and Robots:II.Cham,Germany:Springer International Publishing,2016:445-453.
[18]黄真,赵永生,赵铁石.高等空间机构学[M].北京:高等教育出版社,2006:61-74.
[19]汤腾飞,张俊,赵艳芹.类Exechon并联模块弹性静力学建模与分析[J].上海交通大学学报,2017,51(8):992-999.TANG Tengfei,ZHANG Jun,ZHAO Yanqin.Kinetostatic modeling and analysis of an exe-variant parallel kinematic machine[J].Journal of Shanghai Jiaotong University,2017,51(8):992-999.
[20]LI Q,WANG M,HUANG T,et al.Compliance analysis of a 3-DOF spindle head by considering gravitational effects[J].Chinese Journal of Mechanical Engineering,2015,28(1):1-10.