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飞机自动钻铆并联调姿托架标定方法 被引量:3

Calibration method of aircraft automatic drilling and riveting parallel posture adjustment bracket
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摘要 为提高飞机自动钻铆并联调姿托架的运动精度,提出了一种改进的外部标定方法。利用空间矢量链建立机构的运动学方程并微分,将微分后的所有约束方程纳入误差模型,建立有关机构位姿误差与结构误差的关系表达式并提高建模精度;采用矩阵降维的方式处理结构误差项系数矩阵,提高误差辨识精度。经仿真验证,该标定方法的误差辨识与补偿精度较高,并且能够利用误差模型辨识单个主驱动的定位器主动移动副角度误差,满足了飞机装配对托架调姿精度的要求。 To enhance the motion accuracy of parallel posture adjusting bracket for aircraft automatic drilling and riveting,an improved external calibration method was proposed.The kinematics equations of mechanism were established by space vector chain and differentiated.Then the relationship between posture error and structure error was established and the modeling accuracy was improved by incorporating all the constrained equations into the error model.The method of matrix dimension reduction was applied to deal with the coefficient matrix of structural error,and the accuracy of error identification was also enhanced.The simulation results showed that the calibration method had higher accuracy of error identification and compensation compared to existing methods,and could identify the active moving pair angle error of the positioner driven by one motor with error model,which met the requirements of aircraft assembly for posture adjustment accuracy of the bracket.
作者 王志浩 陈文亮 王慧 潘国威 王珉 WANG Zhihao;CHEN Wenliang;WANG Hui;PAN Guowei;WANG Min(College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics,Nanjing 210016, China))
出处 《计算机集成制造系统》 EI CSCD 北大核心 2018年第12期2964-2974,共11页 Computer Integrated Manufacturing Systems
基金 国家自然科学基金资助项目(51605221)~~
关键词 飞机装配 并联机构 标定 自动钻铆 调姿托架 调姿精度 aircraft assembly parallel mechanism calibration automatic drilling and riveting adjustment bracket posture adjustment accuracy
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