Statics Analyses of a Riveting Robot based on 6-SPU Parallel Mechanism

Statics Analyses of a Riveting Robot based on 6-SPU Parallel Mechanism

A new walking riveting robot based on 6-SPU parallel mechanism is designed to meet the needs of high precision and high efficiency machining for large, thin-walled and complex curved surface workpieces in aviation industry and automotive industry. After modeling and solving the position inverse solu...

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Main Authors: Liang Zheng, Xu Yong, Lv Yeping
Format: Article
Language:English
Published: EDP Sciences 2018-01-01
Series:MATEC Web of Conferences
Online Access:https://doi.org/10.1051/matecconf/201823203048
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spelling doaj-68ddf73bf3454e1c9b0a46fff221be6f2021-02-02T05:47:40ZengEDP SciencesMATEC Web of Conferences2261-236X2018-01-012320304810.1051/matecconf/201823203048matecconf_eitce2018_03048Statics Analyses of a Riveting Robot based on 6-SPU Parallel MechanismLiang ZhengXu YongLv YepingXu YongA new walking riveting robot based on 6-SPU parallel mechanism is designed to meet the needs of high precision and high efficiency machining for large, thin-walled and complex curved surface workpieces in aviation industry and automotive industry. After modeling and solving the position inverse solution of the robot, the riveting trajectory planning is carried out, and the correct positions and orientations of riveting holes are determined. For the workpiece with large thin-walled cylindrical surface, the riveting hole process of the robot is simulated by finite element analysis software, the maximum deformations in all orientations and the maximum equivalent stresses of the moving platform corresponding to riveting points are obtained. The above results provide the necessary theoretical basis for the structure optimization and performance analyses of the automatic riveting robot.https://doi.org/10.1051/matecconf/201823203048
collection DOAJ
language English
format Article
sources DOAJ
author Liang Zheng
Xu Yong
Lv Yeping
Xu Yong
spellingShingle Liang Zheng
Xu Yong
Lv Yeping
Xu Yong
Statics Analyses of a Riveting Robot based on 6-SPU Parallel Mechanism
MATEC Web of Conferences
author_facet Liang Zheng
Xu Yong
Lv Yeping
Xu Yong
author_sort Liang Zheng
title Statics Analyses of a Riveting Robot based on 6-SPU Parallel Mechanism
title_short Statics Analyses of a Riveting Robot based on 6-SPU Parallel Mechanism
title_full Statics Analyses of a Riveting Robot based on 6-SPU Parallel Mechanism
title_fullStr Statics Analyses of a Riveting Robot based on 6-SPU Parallel Mechanism
title_full_unstemmed Statics Analyses of a Riveting Robot based on 6-SPU Parallel Mechanism
title_sort statics analyses of a riveting robot based on 6-spu parallel mechanism
publisher EDP Sciences
series MATEC Web of Conferences
issn 2261-236X
publishDate 2018-01-01
description A new walking riveting robot based on 6-SPU parallel mechanism is designed to meet the needs of high precision and high efficiency machining for large, thin-walled and complex curved surface workpieces in aviation industry and automotive industry. After modeling and solving the position inverse solution of the robot, the riveting trajectory planning is carried out, and the correct positions and orientations of riveting holes are determined. For the workpiece with large thin-walled cylindrical surface, the riveting hole process of the robot is simulated by finite element analysis software, the maximum deformations in all orientations and the maximum equivalent stresses of the moving platform corresponding to riveting points are obtained. The above results provide the necessary theoretical basis for the structure optimization and performance analyses of the automatic riveting robot.
url https://doi.org/10.1051/matecconf/201823203048
work_keys_str_mv AT liangzheng staticsanalysesofarivetingrobotbasedon6spuparallelmechanism
AT xuyong staticsanalysesofarivetingrobotbasedon6spuparallelmechanism
AT lvyeping staticsanalysesofarivetingrobotbasedon6spuparallelmechanism
AT xuyong staticsanalysesofarivetingrobotbasedon6spuparallelmechanism
_version_ 1724302712627003392

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