中文摘要：

根据飞机装配自主移动机构的功能要求,设计一种双框八腿真空吸附式自主移动式机构。基于螺旋理论对该机构进行自由度分析,证明该机构能实现自动制孔法向调姿时所需的5坐标运动。给出由初始状态调姿到期望的法向矢量位置计算各腿需要调整量的机构位置反解算法和算例,该算法计算简单,可用于实时控制算法。采用12个电动机驱动,研制了实物样机,通过第三方现场测试验证了系统的运动精度和制孔精度,结果表明：法向调姿精度小于0.2o,满足工程上不大于0.5o的要求;不同法向姿态的情况下,满足定位误差不大于0.3 mm,重复定位误差不大于0.2 mm的要求。机构具有满足飞机装配的刚度、精度、和承载能力要求。

英文摘要：

According to the functional requirements of autonomous mobile mechanism for aireraft assembly, an autonomous mobile mechanism is designed which consists of two frames, eight legs and vacuum suction system. Its degrees of freedom arc analyzed based on screw theory, which proves the mechanism can realize 5 degrees of freedom required for normal direction automatic drilling The calculation method and an example of inverse kinematics are provided, which can calculate the displacement of legs from initial to desired normal direction. The calculation is sample and can be used to the online control algorithms. The prototype of autonomous mobile mechanism is developed, driven by 12 motor. Through the third party testing, the system motion accuracy and precision of drilling is verified. The results show that the normal direction adjustment accuracy is less than 0.2°, which meets the engineering requirements not more than 0.5%; the position precision is not more than 0.3 mm and repeatability precision is not more than 0.2 mm, under different angle. The mechanism can meet the requirements of stiffness, accuracy, and bearing capacity.