面向飞机部件级对接的全对称四自由度并联机构设计理论与关键技术研究

Aircraft manufacturing is the strategic industry which can promote growth of national economy, keep national military deterrence and influence. Because of huge size, big weight and complicated shape for the aircraft component, the equipment with high stiffness, good accuracy and flexible orientation capability should be applied in the aircraft component docking. At present, the development of docking equipment in china is in the blank stage and be replaced by plenty of rigid tooling and lifting equipment, which exist big gap compared with the foreign advanced docking equipment. To meet the actual demands for aircraft component docking, the parallel mechanism may be applied in the invention of docking equipment in this project. This project takes the high-stiffness symmetrical 4-degree-of-freedom parallel mechanism named as R4 with independent intellectual property rights as the research object, its optimal design theory and key technology will be studied deeply, including topological synthesis, static optimal design, dynamic optimal design, optimal design flow, accuracy design, prototype manufacture and performance testing, which can provide the theoretical and technological foundations for inventing novel domestic advanced aircraft component docking equipment. The work mentioned above may promote the fundamental research of robot mechanism, guild the application of our original technology and support the development of domestic aircraft manufacturing.

飞机制造业是拉动国民经济快速增长、保持国家军事威慑力与国际影响力的战略性产业。飞机部件级对接具有对接件尺寸/重量巨大、形状复杂，对接工艺严格、准确度高等特点，必须采用大刚度、高精度及强位姿能力的对接装备。目前，国内飞机部件级对接装备的研发处于空白阶段，主要采用大型刚性工装和吊装设备完成飞机的部件级装配，与国际先进水平存在阶段性差距。本项目面向飞机制造业对部件级对接装备的实际需求，将具有位姿能力的并联机构应用于飞机部件级对接装备的研发，拟以具有我国自主知识产权的高刚度全对称四自由度并联机构R4为典型对象，研究该类机构的优化设计理论与关键技术，内容设计拓扑构型综合、静态设计、动态设计、优化设计流程、精度设计、原型样机建造及性能检测等，为开发国产飞机部件级对接装备奠定理论与技术基础。上述工作对促进机器人机构学基础理论研究，引领我国原创技术工程应用，支撑国家飞机制造业发展，均具有十分重要的意义。

飞机部件级对接装配技术/装备是制约我国航空制造业发展的瓶颈之一。面向航空制造业对数字化柔性对接装备的重要需求，本项目系统研究一类含铰接搓动平台四自由度姿态调整并联机构的发明、分析与设计一体化理论与方法，内容涉及拓扑构型综合、运动学分析与设计、静动态建模与优化、精度分析提升与保障、样机建造以及性能实验等。针对飞机部件级装配定位调姿运动需求，本项目引入铰接搓动平台，以李群为数学工具综合一类新型的全对称四自由度姿态调整并联机构。以其中的典型代表PaQuad并联机构为对象，建立机构的运动映射模型，提出虚功传递率指标，利用多目标优化设计方法实现机构尺度参数的优化设计。借助虚功原理和KED方法，分别构建PaQuad并联机构的静刚度模型和弹性动力学模型。面向飞机翼板装配的实际需求，定义瞬时能量和刚度质量比为静态和动态性能的评价指标，以轻量化为优化目标，借助多目标粒子群算法，提出PaQuad并联机构静动态优化设计的一般流程和方法。利用旋量理论，建立PaQuad并联机构的全几何误差模型，制定装配工艺和原则，指导零部件装配。通过运动学标定方法，提出PaQuad物理样机的精度提升与保障策略。最后，利用实验方法验证上述分析与设计理论和方法的有效性。本项目执行年限内，在Machine Tool and Manufacture、ASME Trans. Journal of Mechanisms and Robotics、Robotics and Computer- Integrated Manufacturing等国内外著名机构学期刊及会议上发表学术论文19篇，被SCI收录9篇次，被EI收录14篇；提出了15种新型少自由度并联构型装备，均已申请国家发明专利，其中14项已授权；培养博士研究生1名、硕士研究生7名。