Statics Analyses of a Riveting Robot based on 6-SPU Parallel Mechanism

A new walking riveting robot based on 6-SPU parallel mechanism is designed to meet the needs of high precision and high efficiency machining for large, thin-walled and complex curved surface workpieces in aviation industry and automotive industry. After modeling and solving the position inverse solution of the robot, the riveting trajectory planning is carried out, and the correct positions and orientations of riveting holes are determined. For the workpiece with large thin-walled cylindrical surface, the riveting hole process of the robot is simulated by finite element analysis software, the maximum deformations in all orientations and the maximum equivalent stresses of the moving platform corresponding to riveting points are obtained. The above results provide the necessary theoretical basis for the structure optimization and performance analyses of the automatic riveting robot.