关键词: 自动钻铆, 混联机构, 冗余自由度, D-H 方法, 运动学分析 

Abstract: A unified kinematic model and forward and reverse solution problem of automatic drilling riveting machine with redundant degrees of freedom and serial-parallel structure was studied，in order to improve the quality and efficiency of automatic drilling and riveting for aircraft panel assembly． Based on the equivalent transformation method defined by the coordinates，the moving platform and static platform of the parallel part were equivalently inverted． And based on the virtual branching method and the D-H method，the closed-chain kinematic model of the automatic drilling riveting machine was established． Thus the analytical solution of the positive solution of the kinematic position was obtained． According to the characteristics that the automatic drilling riveting machine owns redundant degrees of freedom and hybrid structure，the‘step-bystep’decoupling strategy of the kinematic inverse solution was proposed． Finally，the case study shows that the position average error and the normal average error between the actual pose and the target pose of the automatic riveting machine are 0. 13191mm and 0. 16842°，respectively，which verified the correctness of the method． 

Key words: automatic drilling and riveting, hybrid mechanism, redundant degree of freedom, D-H method, kinematic analysis