Kinematic Modeling and Simulation of a New Robot for Wingbox Internal Fastening Application

At present, the fastener installation in a wingbox facing a narrow space must be performed manually. Using a robot is an appropriate solution for automatic assembly. However, the existing robots cannot meet the internal fastening requirements. A new robot with a prismatic joint and four revolute joi...

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Bibliographic Details
Published inMachines (Basel) Vol. 11; no. 7; p. 753
Main Authors Jiang, Jiefeng, You, Jingjing, Bi, Yunbo
Format Journal Article
LanguageEnglish
Published Basel MDPI AG 01.07.2023
Subjects
Aircraft
Anthropomorphism
Automation
Control systems
Design
Frame structures
Gas turbine engines
internal fastening
inverse kinematics
Kinematic equations
kinematic modeling
Kinematics
robot
Robot dynamics
Robotics
Robotics industry
Robots
Wing boxes
wingbox
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Summary:At present, the fastener installation in a wingbox facing a narrow space must be performed manually. Using a robot is an appropriate solution for automatic assembly. However, the existing robots cannot meet the internal fastening requirements. A new robot with a prismatic joint and four revolute joints (1P4R) was developed to perform the positioning and operation in the wingbox. A compact arm link was designed, and mechanical frame structures were set up. The control system was also set up for the robot’s motion. Then, the forward kinematic model was carried out with the matrix transformation method, and in the analysis the workspace entirely covered the wingbox. The inverse kinematic model was established using the geometric method, and through calculation and simulation, the inverse kinematic equations were verified and refined.
ISSN:2075-1702
2075-1702
DOI:10.3390/machines11070753