Analysis of Stiffness Characteristic of Five-degree-of-freedom Hammer Riveting Robot based on Spiral Theory
In order to meet the processing requirements of large aerospace thin-walled curved workpieces，a five-degree-of-freedom （5-DOF） hammer riveting robot is designed. In view of the characteristics of the 5-DOF hammer riveting robot， combining Lie group Lie algebra and spiral theory， its kinematics model...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2022-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.03.019 |
| Summary: | In order to meet the processing requirements of large aerospace thin-walled curved workpieces，a five-degree-of-freedom （5-DOF） hammer riveting robot is designed. In view of the characteristics of the 5-DOF hammer riveting robot， combining Lie group Lie algebra and spiral theory， its kinematics model is established and solved； use the exponential product formula to derive the Jacobian matrix of the robot，and use the stiffness mapping theory to solve the stiffness matrix of the robot； the finite element and Matlab simulation software are used to simulate and verify the end deformation under the general pose and the extreme pose，and the stiffness distribution map of the robot in the task space varying with the change of pose is given；the simulation result is compared with the theoretical calculation value and the error is not more than 10%，which verify the correctness and effectiveness of the established stiffness model and provide important reference for optimization of subsequent work path. |
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| ISSN: | 1004-2539 |