基于双机器人装配系统的多功能末端执行器设计

根据翼面类部件装配的特殊需求,设计了一种用于双机器人装配系统的多功能末端执行器。阐述了其结构设计及工作原理,并运用DELMIA软件对末端执行器的应用环境进行了仿真,提出了手工装配工装的改进意见。分析表明该末端执行器能够保证双机器人柔性装配系统无干涉地完成翼面类部件的制孔、送钉及电磁铆接等装配任务,可增加飞机装配的效率及质量,具有显著的工程应用价值。

Multi-function End Executor Design Based on A Two-robot Assembly System

Design of multi-function module executors used for two-robot assembly system was done in this article,according to the special requirements of the wing surface class components assembly.And then failure detection and elimination measures were put forward based on the analysis of possible failures during the rivets automatic feeding process.Analysis showsthat this new feeding system,which can select and transfernearly a hundred kinds of rivetsautomatically and contribute to robotic drilling and riveting more reliably and efficiently,will bringgreat value in engineering application and promotion.