CAJ | 학술논문

针对一类新型钢结构复杂节点的结构特点,设计了一种六自由度空间钢结构复杂节点装配系统模型；制作了相应的自动装配机,阐述了装配机的结构组成及工作原理；运用Denavit-Hartenberg方法及矩阵逆运算相关原理建立了装配机的正、逆运动学方程,得到了装配控制算法主要参数；通过点位控制法获得了相关实验数据,并与理论计算数据进行了比较；结果证明,所提出的装配控制算法精度好,旋转关节最大偏差为0.11°,移动关节最大偏差为0.1 mm,可很好的满足实际装配需求。
침대일류신형강결구복잡절점적결구특점,설계료일충륙자유도공간강결구복잡절점장배계통모형；제작료상응적자동장배궤,천술료장배궤적결구조성급공작원리；운용Denavit-Hartenberg방법급구진역운산상관원리건립료장배궤적정、역운동학방정,득도료장배공제산법주요삼수；통과점위공제법획득료상관실험수거,병여이론계산수거진행료비교；결과증명,소제출적장배공제산법정도호,선전관절최대편차위0.11°,이동관절최대편차위0.1 mm,가흔호적만족실제장배수구。
Aiming at the structure characteristics of a new class of complex steel structure joint, a six degree of freedom of assembly system model for the complex steel structure is proposed. The automatic assembly machine is designed, and its structure and princi-ple of operation is elaborated. The equation of forward and inverse kinematics is built by using the method of Denavit-Hartenberg al-gorithm and the relevant theory about the inverse operation of Matrix, and the main control parameters are obtained .By using point-to-point control ing approach the experiment data is gained, compared with the theoretical data. The result indicates that the algorithm above has good accuracy. The deviation of rotary joints is accurate to 0.11° and the deviation mobile joints is accurate to 0.1 mm. This meets the actual assembly requirements.