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| Design and Research of Aircraft Landing Gear Omni-Directional Mobile Assembly Robot |
| XU Bo 1, 2, ZHAO Chaoze 1, 2, ZHANG Yumei 1, 2, YAN Dong 1, 2, GONG Bo 1, 2, PANG Xuefeng 1, 2 |
| (1.Tianjin Institute of Aerospace Mechanical and Electrical Equipment, Tianjin 300458, China； 2. Corporation Key Laboratory of Aerospace Intelligent Equipments Technology, Tianjin 300458, China) |
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Abstract As an important part supporting the weight of aircraft and absorbing the impact energy, landing gear is faced with the special requirements of narrow assembly space and high assembly precision in the process of assembly and test. Therefore, it is urgent to develop a flexible assembly platform with movable and multi-degree of freedom adjustment functions. Through analysis of gear assembly requirements, the 6-DOF assembly robot was designed based on Mecanum wheel omni-directional mobile and 3–RPS parallel mechanism. The structure and control method were introduced in detail. By analyzing robot kinematics characteristics, a kinematics model was obtained, and the kinematic parameters and accuracy are analyzed. Finally, through the landing gear assembly test, the function and performance of the robot can meet the operational requirements.
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2021, 
