空间多姿态下自动钻铆托架变形分析与调平方法

飞机壁板自动钻铆系统中托架具有自重大、跨距长、变形量大等特点,其变形误差随工作姿态的不同而改变,从而导致壁板钻铆超差。文章在对自动钻铆托架结构设计基础上,建立了托架横梁弯曲变形模型,根据钻铆点位与横梁变形曲线的空间关系构建了壁板钻铆点位变形量数学模型;针对传统调平补偿方法无法精确满足托架变形量动态变化的问题,采用迭代优化方法建立了托架多姿态变形补偿调平算法;并采用有限元仿真方法分析了托架处于各角度时钻铆点位的变形量及外法线向量;将理论算法数据与仿真数据进行了对比分析,验证了文中提出的托架变形分析与调平算法的正确性和有效性。

An Effective Deformation Analysis and Leveling Method for Work Positioning of Automatic Riveting System in Multi-Pose Space

The panel work positioner of automation riveting system has some characteristics:it is heavy,its span is long,and its deformation is large.Its deformation errors change as its working pose changes,thus leading to that the panel’s tolerances are exceeded.Then the panel is defective.In order to control the deformation of the work positioner,sections 1 through 3 of the full paper present a deformation analysis and leveling method for work positioner of automation drilling and riveting system in multi-pose space,which we believe is more effective than previous ones.Section 1 does two things:(1) it establishes a deformation model of the work positioner’s crossbeam based on the position model of automatic drilling and riveting system;(2) it establishes the deformation model of panel’s drilling and riveting points by the geometrical relationship between each point and the crossbeam’s deformation curve.Section 2 presents an algorithm compensating for the deformation errors of the work positioner in multi-pose space based on the iterative optimizing method.Section 3 does two things:(1) it uses the finite element method to analyze the deformations and the out normal vectors of the drilling and riveting points in multi-pose space;(2) it analyzes contrastively the theoretical deformation errors and simulation errors.The simulation results,presented in Figs.9 through 11 and Table 2,and their analysis indicate that our method is indeed accurate for calculating the work positioner’s deformation errors,thus compensating effectively for the deformation errors.