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分析了飞机装配自主移动式自动制孔系统机构的功能要求,设计了一种双框八腿真空吸附式自主移动机构。并采用虚位移法对该机构进行了法向调姿自由度分析,分析结果表明该机构符合法向调姿时Z向进给,A、B角转动3个自由度的设计要求。
The functional requirements of the aircraft assembly autonomous mobile automatic hole making system are analyzed. A double-frame eight-leg vacuum adsorption autonomous moving mechanism is designed. The mechanism of virtual attitude adjustment is analyzed by virtual displacement method. The analysis results show that the mechanism meets the design requirements of three degrees of freedom of Z-direction feed and A, B-angle rotation.