Purpose

With the improvement of modern aircraft requirements for safety, long life and economy, higher quality aircraft assembly is needed. However, due to the manufacturing and assembly errors of the posture adjustment mechanism (PAM) used in the digital assembly of aircraft large component (ALC), the posture alignment accuracy of ALC is difficult to be guaranteed, and the posture adjustment stress is easy to be generated. Aiming at these problems, this paper aims to propose a calibration method of redundant actuated parallel mechanism (RAPM) for posture adjustment.

Design/methodology/approach

First, the kinematics model of the PAM is established, and the influence of the coupling relationship between the axes of the numerical control locators (NCL) is analyzed. Second, the calibration method based on force closed-loop feedback is used to calibrate each branch chain (BC) of the PAM, and the solution of kinematic parameters is optimized by Random Sample Consensus (RANSAC). Third, the uncertainty of kinematic calibration is analyzed by Monte Carlo method. Finally, a simulated posture adjustment system was built to calibrate the kinematics parameters of PAM, and the posture adjustment experiment was carried out according to the calibration results.

Findings

The experiment results show that the proposed calibration method can significantly improve the posture adjustment accuracy and greatly reduce the posture adjustment stress.

Originality/value

In this paper, a calibration method based on force feedback is proposed to avoid the deformation of NCL and bracket caused by redundant driving during the calibration process, and RANSAC method is used to reduce the influence of large random error on the calibration accuracy.

中文翻译：

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一种用于姿态调整的冗余驱动并联机构标定方法

目的

随着现代飞机对安全性、长寿命和经济性要求的提高，需要更高质量的飞机组装。然而，由于飞机大型部件（ALC）数字化装配中使用的姿态调节机构（PAM）的制造和装配误差，ALC的姿态对准精度难以保证，姿态调节应力容易产生。被生成。针对这些问题，本文旨在提出一种用于姿态调整的冗余驱动并联机构（RAPM）标定方法。

设计/方法/方法

首先，建立了PAM的运动学模型，分析了数控定位器（NCL）轴间耦合关系的影响。其次，采用基于力闭环反馈的标定方法对PAM的各个支链（BC）进行标定，并通过随机采样共识（RANSAC）优化运动学参数的求解。第三，采用蒙特卡罗方法分析运动学标定的不确定度。最后，搭建了模拟姿态调整系统，对PAM的运动学参数进行标定，并根据标定结果进行姿态调整实验。

发现

实验结果表明，所提出的标定方法能够显着提高姿态调整精度，大大降低姿态调整应力。

原创性/价值

本文提出了一种基于力反馈的标定方法，以避免标定过程中冗余驱动引起的NCL和支架变形，并采用RANSAC方法减少较大的随机误差对标定精度的影响。