A novel posture alignment system for aircraft wing assembly
A novel posture alignment system for aircraft wing assembly
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DOI：
10.1631/jzus.a0820777
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发表时间：
2009-11
影响因子：
3.2
通讯作者：
Bin Zhang;Baogang Yao;Y. Ke
中科院分区：
文献类型：
--
作者：
Bin Zhang;Baogang Yao;Y. Ke
提出了一种基于三自由度定位器的新型六自由度机翼装配姿态调整系统。每个定位器通过一个可转动、可吸附的半球形末端执行器与机翼连接，将定位器与机翼一起视为3-PPPS（P为柱铰，S为球铰）冗余驱动并联机构。建立了该系统的运动学模型，介绍了一种轨迹规划方法。逆动力学进行了完整的分析与牛顿-欧拉算法，这是用来找到所需的驱动力矩的设计和路径规划阶段。基于逆运动学和动力学对定位器各关节的位移和驱动力矩进行了仿真分析，结果表明该系统用于飞机机翼姿态调整是可行的。
A novel 6-degree of freedom (DOF) posture alignment system, based on 3-DOF positioners, is presented for the assembly of aircraft wings. Each positioner is connected with the wing through a rotational and adsorptive half-ball shaped end-effector, and the positioners together with the wing are considered as a 3-PPPS (P denotes a prismatic joint and S denotes a spherical joint) redundantly actuated parallel mechanism. The kinematic model of this system is established and a trajectory planning method is introduced. A complete analysis of inverse dynamics is carried out with the Newton-Euler algorithm, which is used to find the desired actuating torque in the design and path planning phase. Simulation analysis of the displacement and actuating torque of each joint of the positioners based on inverse kinematics and dynamics is conducted, and the results show that the system is feasible for the posture alignment of aircraft wings.