Kinematic inverse solving method for six-shaft automatic drilling and dimpling machine tool comprising double C shafts

Abstract

The invention discloses a kinematic inverse solving method for a six-shaft automatic drilling and dimpling machine tool comprising double C shafts. The method comprises the steps that (1) an equipment base coordinate system, all moving shaft sub-coordinate systems and a tool coordinate system are established in the six-shaft automatic drilling and dimpling machine tool, a coordinate system definition diagram is drawn, and all the sub-coordinate systems and the equipment base coordinate system are made to keep consistent in coordinate axis direction; (2) kinematic analysis is performed on the six-shaft automatic drilling and dimpling machine tool, and a forward kinematic model is established; and (3) an equation set of joint quantities is established according to a target pose and the forward kinematic model of the six-shaft automatic drilling and dimpling machine tool, a kinematic inverse solving strategy for separate solving of the joint quantities is proposed, and an analytical method and a numerical method are combined to solve all the joint quantities to obtain an inverse kinematic model. Through the method, kinematic forward/inverse solving of the six-shaft automatic drilling and dimpling machine tool can be realized, the accuracy of machine tool movement control can be guaranteed, and automatic machining of an elliptical dimple is realized.

Description

technical field [0001] The invention relates to the field of aircraft assembly technology and equipment, in particular to a kinematics inversion method for a six-axis automatic hole-making and spot-sinking machine tool with double C axes. Background technique [0002] With the continuous improvement of the design level of modern military aircraft and the continuous pursuit of aircraft stealth performance, integral wings are widely used. In the assembly of the integral wing, the unilateral fixation between the wing panel and the wing frame is realized by using the elliptical head lugless nut. Before using this special fastener, it is necessary to process an elliptical assembly hole (referred to as an elliptical socket) on the wing frame. [0003] The traditional elliptical dimple processing method uses a manual processing tool to control the shape and depth of the elliptical dimple depending on the worker's technical level. Not only the processing steps are cumbersome, the e...

AI Technical Summary

Problems solved by technology

No single method is suitable for this six-axis automatic hole making and spot facing machine tool

At the same time, due to the structure of the double C-axis, mutual influence is likely to occur in the kinematics inverse solution, and the solution is likely to be inaccurate when solving; and the strokes of the three rotation axes are relatively large, and it is easy to appear periodic multiple solutions when solving at the same time Happening

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