Development of a New Flexible Fixture for Honeycomb Panel Assembly Manipulators
Aiming at the difficulty of automatic handling of honeycomb panels due to the characteristics of various sizes,low stiff-ness and fragility,a new flexible fixture for assembly manipulator based on adjustable ring was designed.The special requirements of ho-neycomb panel fixture performance were studied,and on this basis,a concept of flexible fixture based on wire rope loop was proposed.Based on the static geometric ring,a flexible fixture with adjustable ring was further designed.In order to further improve the flexibility,a matching combined mode loop control method was designed to effectively change the geometry of the loop.Finally,a prototype com-posed of six rings was prepared and tested to determine the best clamping parameters of different honeycomb plates and quantify the clamping force.The results show that the clamping force first increases to the maximum and then decreases for both 0.7 mm rope and 1 mm rope,which confirms the hypothesis that the ring size is related to the stroke.Among them,the 0.7 mm rope does not damage any material,which has greater flexibility.Under the condition of no damage,the flexible fixture can be effectively applied to automatic clam-ping of various types of honeycomb panels with high flexibility and sensitivity.
万方数据
维普
