Abstract Flexible assembly tooling is an important manufacturing equipment for aircraft products, the positioning error of its end locating effectors determines the final assembly precision directly. To realize its accurate positioning, a precise and effective error compensation method based on two-stage strategy, is proposed. Based on the structure and working conditions of locating unit, an assembly measuring field is set up, for acquiring the actual geometric error status and the various time-varying assembly parameters in practical assembly site. Considering the transfer and accumulation of actual geometric error and deformation error, the positioning error mechanism model at the pre-compensation stage is proposed. Then with the actual assembly conditions and the measured training/testing data set of the positioning error, the SLFN motion prediction model for the locating unit is proposed, aiming at clarifying the nonlinear and strong coupling relationship between the input motion value and the output positioning error. And the SLFN data model has a good fitting and prediction ability. Combining the advantages of error mechanism modeling and measurement data modeling, a semi-mechanism model is proposed at the accurate compensation stage. Where the positioning error is predicted with SLFN model for a given input motion value, acting as an error generator. Experiment results showed that the final measured average error is 0.036 mm, having an enhancement ratio of 25.77 % contrasting with the error mechanism model. This accurate modification and compensation solution makes the relationship between causal factors and output positioning error more comprehensive, and the overall effect is more consistent with the practical situation, i.e. a higher precision value and an accurate input/output relationship can be gained.

中文翻译：

---

具有两阶段补偿策略的飞机柔性装配工装定位误差保证方法

摘要 柔性装配工装是飞机产品的重要制造设备，其末端定位效应器的定位误差直接决定了总装精度。为实现其精确定位，提出了一种基于两阶段策略的精确有效的误差补偿方法。根据定位单元的结构和工况，建立装配测量场，获取实际装配现场的实际几何误差状态和各种时变装配参数。考虑到实际几何误差和变形误差的传递和积累，提出了预补偿阶段的定位误差机理模型。然后结合实际装配条件和测得的定位误差训练/测试数据集，提出了定位单元的SLFN运动预测模型，旨在阐明输入运动值与输出定位误差之间的非线性强耦合关系。并且SLFN数据模型具有良好的拟合和预测能力。结合误差机制建模和测量数据建模的优点，提出了一种精确补偿阶段的半机制模型。对于给定的输入运动值，使用 SLFN 模型预测定位误差，充当误差发生器。实验结果表明，最终测得的平均误差为0.036 mm，与误差机制模型相比增强率为25.77%。这种精确的修正补偿方案，使因果因素与输出定位误差的关系更加全面，