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浙江大学学报(工学版)
机械与能源工程     
叠层结构机器人制孔压紧力预测
陈威1, 朱伟东1, 章明1, 赵健冬2, 梅标1
1. 浙江大学 机械工程学院, 浙江 杭州 310027; 2. 浙江中能工程检测有限公司, 浙江 杭州 311106
Clamping force prediction for robotic drilling of stacked structure
CHEN Wei1, ZHU Wei dong1, ZHANG Ming1, ZHAO Jian dong2, MEI Biao1
1. Department of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China; 2. Zhejiang Zhongneng Engineering Test Company Limited, Hangzhou 311106, China
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摘要:
为了能合理地选择机器人制孔过程中的压紧力,基于叠层结构间隙消除的基本原理,提出机器人制孔过程中考虑初始间隙的压紧力预测方法.通过分析机器人自动化制孔过程中机身壁板刚度对各制孔位置所需压紧力大小的影响,并根据机身壁板的结构特点,对机身壁板的区域进行划分.在制孔过程中,层间间隙的不同也会导致所需压紧力的不同,因而分析叠层制孔过程中间隙的形成原因以及间隙对压紧力的影响.基于构建的壁板结构有限元仿真模型,结合影响系数法获取蒙皮和长桁的刚度矩阵,利用蒙特卡洛模拟生成蒙皮和长桁的初始间隙,基于弹性力学原理计算各制孔位置间隙消除所需的制孔压紧力.采用预测的压紧力在机器人制孔平台上进行制孔实验.实验结果表明:制孔后层间毛刺高度均小于0.1 mm,满足飞机装配中紧固孔的制孔质量要求.所提出的机器人制孔压紧力预测方法能够实现压紧力的准确预测,并有效抑制飞机壁板自动化制孔过程中毛刺的产生,确保紧固孔的制孔质量,为高效率的飞机自动化装配提供了技术支持.
Abstract:
A clamping force prediction method considering the effect of initial gap was proposed based on the principle of gap eliminating in order to accurately estimate the
clamping force used in robotic drilling. Firstly, the influences of the stiffness of a fuselage panel on the demanded clamping force at the drilled positions in automatic robotic drilling were analyzed. And the region of the fuselage panel were divided according to the panel’s structure characteristics. In robotic drilling, different interlayer gaps demand different clamping forces to close them. Therefore, the formation of the interlayer gap in robotic drilling and the effects of the interlayer gap on the demanded clamping force were further analyzed. Based on the constructed finite element model related to aircraft panel and the method of influence coefficient, the stiffness matrices of skin and stringer were  obtained. Initial gaps between skin and stringer were produced by Monte Carlo simulation. The clamping forces of all drilling positions, which were applied to close the interlayer gaps, were calculated based on the elastic mechanics. The drilling experiments were conducted on the developed robotic drilling platform by using the predicted clamping forces. The experimental results show that burr height is less than 0.1 mm, which can meet the quality requirements of drilled fastener holes in aircraft assembly. Therefore, clamping force can be accurately estimated based on the proposed clamping force prediction method for robotic drilling. Hence burr formation is effectively suppressed in automatic drilling process for aircraft panel, and the drilling quality of the drilled fastener holes is ensured. The proposed method provides efficient aircraft automatic assembly with technical support.
出版日期: 2015-12-31
:  V 262.4  
基金资助:
国家自然科学基金资助项目(51205352); 中央高校基本科研业务费专项资金资助项目(2014FZA4003).
通讯作者: 朱伟东, 男, 讲师. ORCID: 0000 0003 4067 1450.     E-mail: wdzhu@zju.edu.cn
作者简介: 陈威(1988—),男,硕士生,从事机器人制孔工艺参数优化研究.ORCID: 0000 0001 6724 0090. E-mail: weichenjx@163.com
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引用本文:

陈威, 朱伟东, 章明, 赵健冬, 梅标. 叠层结构机器人制孔压紧力预测[J]. 浙江大学学报(工学版), 10.3785/j.issn.1008-973X.2015.12.007.

CHEN Wei, ZHU Wei dong, ZHANG Ming, ZHAO Jian dong, MEI Biao. Clamping force prediction for robotic drilling of stacked structure. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 10.3785/j.issn.1008-973X.2015.12.007.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2015.12.007        http://www.zjujournals.com/eng/CN/Y2015/V49/I12/2282

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