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Volume 11
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10.3390/machines11070753
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Article

Kinematic Modeling and Simulation of a New Robot for Wingbox Internal Fastening Application

by
Jiefeng Jiang
1,*,
Jingjing You
2 and
Yunbo Bi
3
1
School of Engineering, Hangzhou Normal University, Hangzhou 311121, China
2
College of Mechanical and Electronic Engineering, Nanjing Forestry University, Nanjing 210037, China
3
School of Mechanical Engineering, Zhejiang University, Hangzhou 310058, China
*
Author to whom correspondence should be addressed.
Machines 2023, 11(7), 753; https://doi.org/10.3390/machines11070753
Submission received: 15 June 2023 / Revised: 7 July 2023 / Accepted: 13 July 2023 / Published: 18 July 2023
(This article belongs to the Section Automation and Control Systems)
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Abstract

At present, the fastener installation in a wingbox facing a narrow space must be performed manually. Using a robot is an appropriate solution for automatic assembly. However, the existing robots cannot meet the internal fastening requirements. A new robot with a prismatic joint and four revolute joints (1P4R) was developed to perform the positioning and operation in the wingbox. A compact arm link was designed, and mechanical frame structures were set up. The control system was also set up for the robot’s motion. Then, the forward kinematic model was carried out with the matrix transformation method, and in the analysis the workspace entirely covered the wingbox. The inverse kinematic model was established using the geometric method, and through calculation and simulation, the inverse kinematic equations were verified and refined.
Keywords: wingbox; internal fastening; robot; kinematic modeling; inverse kinematics wingbox; internal fastening; robot; kinematic modeling; inverse kinematics

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MDPI and ACS Style

Jiang, J.; You, J.; Bi, Y. Kinematic Modeling and Simulation of a New Robot for Wingbox Internal Fastening Application. Machines 2023, 11, 753. https://doi.org/10.3390/machines11070753

AMA Style

Jiang J, You J, Bi Y. Kinematic Modeling and Simulation of a New Robot for Wingbox Internal Fastening Application. Machines. 2023; 11(7):753. https://doi.org/10.3390/machines11070753

Chicago/Turabian Style

Jiang, Jiefeng, Jingjing You, and Yunbo Bi. 2023. "Kinematic Modeling and Simulation of a New Robot for Wingbox Internal Fastening Application" Machines 11, no. 7: 753. https://doi.org/10.3390/machines11070753

APA Style

Jiang, J., You, J., & Bi, Y. (2023). Kinematic Modeling and Simulation of a New Robot for Wingbox Internal Fastening Application. Machines, 11(7), 753. https://doi.org/10.3390/machines11070753

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