Motion Planning for Posture Alignment Machine Tool Oriented Fuselage Panel

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Motion Planning for Posture Alignment Machine Tool Oriented Fuselage Panel

更新时间：2025-07-09

- Motion Planning for Posture Alignment Machine Tool Oriented Fuselage Panel
- Vol. 45, Issue 3, Pages: 102-106(2011)
- 作者机构：
  
  西安交通大学机械制造系统工程国家重点实验室,西安,710049
- 作者简介：
- 基金信息：
- DOI：
  CLC： V262.4
- Online First：10 March 2011，
  
  Published：2011
- 稿件说明：
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Motion Planning for Posture Alignment Machine Tool Oriented Fuselage Panel[J]. 2011, 45(3): 102-106.
DOI：

Motion Planning for Posture Alignment Machine Tool Oriented Fuselage Panel[J]. 2011, 45(3): 102-106. DOI：

摘要

为了解决大型飞机机身壁板数字化装配中的调姿与对接问题

设计了一种面向大型飞机机身部装的数字化柔性工装试验样机

提出了一种基于精密三坐标定位器四点支撑的大型飞机机身壁板的装配位姿调整方法.该方法不仅适合于调姿路径不确定的情况

而且还将装配位姿调整过程分解为位置与姿态2个调整阶段

从而降低了多轴协调控制的难度.由于装配件的位移、速度、加速度轨迹的理论计算与物理实验结果均是光滑连续的

而且满足各边界约束条件

因此该调姿系统及其运动规划方法可满足机身壁板装配调姿的精度、效率和稳定性要求

为装配件调姿运动的高效精确控制奠定了基础.

Abstract

To meet the requirement of automated alignment and joining of fuselage panels in digital assembly

a novel type of assembly machine tool for adjusting a large subassembly location(including position and orientation)is designed. The adjusting strategy of subassembly position and orientation based on four accurate 3-axis locators support is proposed

which is suitable for the case of uncertain path and reduces the multi-axis control difficulty of every locator by decomposing the location path planning into two parts

one for position schemes and the other for orientation ones. The simulation and experiment show the accuracy

efficiency and stability of location alignment of the fuselage panels.

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references

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CHETTIBI T, LEHTIHET H E, HADDAD M, et al. Minimum cost trajectory planning for industrial robots [J]. Eur J Mech A Solids, 2004,23(4):703-715.

张斌,方强,柯映林.大型刚体调姿系统最优时间轨迹规划 [J]. 机械工程学报,2008,44(8): 248-252.

ZHANG Bin, FANG Qiang, KE Yinglin. Optimal time trajectory planning method for a kind of posture aligning system of large rigid bodies [J]. Chinese Journal of Mechanical Engineering, 2008, 44(8): 248-252.

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