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| An Adjustable Position Inverse Solution Algorithm of Automatic Drilling and Riveting Machine Based on Screw Theory |
| ZHOU Ping, ZHAI Jianjun, PAN Guowei, YANG Yanyong |
(College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics,
Nanjing 210016, China) |
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Abstract Inverse kinematics was the technical foundation for machine tool motion control and the technical assurance
to improve the accuracy of movement. According to the demand of automated drilling and riveting aircraft assembly,
the gantry automatic drilling and riveting machine was taken as a research object, and its kinematics model was established
based on screw theory. A new algorithm was proposed for the inverse kinematics calculation of the automatic drilling and
riveting machine based on the screw theory by using the combined method of Paden-Kahan sub-problem method and the
geometry of the upper and lower end effector of automated drilling and riveting machine. Furthermore, the proposed inverse
kinematics algorithm was validated by using the DMU. The results showed that the inverse kinematics algorithm
based on screw theory was efficiently, and it provided the theoretical basis for the motion control of automatic drilling and
riveting machine.
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2017, 
