Kinematic Modeling and Simulation of a New Robot for Wingbox Internal Fastening Application
نویسندگان
چکیده
At present, the fastener installation in a wingbox facing narrow space must be performed manually. Using robot is an appropriate solution for automatic assembly. However, existing robots cannot meet internal fastening requirements. A new with prismatic joint and four revolute joints (1P4R) was developed to perform positioning operation wingbox. compact arm link designed, mechanical frame structures were set up. The control system also up robot’s motion. Then, forward kinematic model carried out matrix transformation method, analysis workspace entirely covered inverse established using geometric through calculation simulation, equations verified refined.
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ژورنال
عنوان ژورنال: Machines
سال: 2023
ISSN: ['2075-1702']
DOI: https://doi.org/10.3390/machines11070753