面向飞机部件级对接的全对称四自由度并联机构设计理论与关键技术研究

项目名称： 面向飞机部件级对接的全对称四自由度并联机构设计理论与关键技术研究

项目编号： No.51205278

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 机械工程学科

项目作者： 孙涛

作者单位： 天津大学

项目金额： 25万元

中文摘要： 飞机制造业是拉动国民经济快速增长、保持国家军事威慑力与国际影响力的战略性产业。飞机部件级对接具有对接件尺寸/重量巨大、形状复杂，对接工艺严格、准确度高等特点，必须采用大刚度、高精度及强位姿能力的对接装备。目前，国内飞机部件级对接装备的研发处于空白阶段，主要采用大型刚性工装和吊装设备完成飞机的部件级装配，与国际先进水平存在阶段性差距。本项目面向飞机制造业对部件级对接装备的实际需求，将具有位姿能力的并联机构应用于飞机部件级对接装备的研发，拟以具有我国自主知识产权的高刚度全对称四自由度并联机构R4为典型对象，研究该类机构的优化设计理论与关键技术，内容设计拓扑构型综合、静态设计、动态设计、优化设计流程、精度设计、原型样机建造及性能检测等，为开发国产飞机部件级对接装备奠定理论与技术基础。上述工作对促进机器人机构学基础理论研究，引领我国原创技术工程应用，支撑国家飞机制造业发展，均具有十分重要的意义。

中文关键词： 铰接搓动平台；并联机构；运动学优化设计；静动态优化设计；样机建造与实验

英文摘要： Aircraft manufacturing is the strategic industry which can promote growth of national economy, keep national military deterrence and influence. Because of huge size, big weight and complicated shape for the aircraft component, the equipment with high stiffness, good accuracy and flexible orientation capability should be applied in the aircraft component docking. At present, the development of docking equipment in china is in the blank stage and be replaced by plenty of rigid tooling and lifting equipment, which exist big gap compared with the foreign advanced docking equipment. To meet the actual demands for aircraft component docking, the parallel mechanism may be applied in the invention of docking equipment in this project. This project takes the high-stiffness symmetrical 4-degree-of-freedom parallel mechanism named as R4 with independent intellectual property rights as the research object, its optimal design theory and key technology will be studied deeply, including topological synthesis, static optimal design, dynamic optimal design, optimal design flow, accuracy design, prototype manufacture and performance testing, which can provide the theoretical and technological foundations for inventing novel domestic advanced aircraft component docking equipment. The work mentioned above may promote the fundamenta

英文关键词： Articulated travelling platform；Parallel mechanism；Kinematic optimal design；Static-elastic optimal design；Prototype design and experiment