CN103496449A  Pose adjustment track planning method for plane side wall component assembling  Google Patents
Pose adjustment track planning method for plane side wall component assembling Download PDFInfo
 Publication number
 CN103496449A CN103496449A CN201310384485.4A CN201310384485A CN103496449A CN 103496449 A CN103496449 A CN 103496449A CN 201310384485 A CN201310384485 A CN 201310384485A CN 103496449 A CN103496449 A CN 103496449A
 Authority
 CN
 China
 Prior art keywords
 coordinate
 aircraft
 alpha
 pose
 cos
 Prior art date
 Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
 Granted
Links
 238000000034 method Methods 0.000 claims abstract description 31
 238000006467 substitution reaction Methods 0.000 claims description 10
 230000000875 corresponding Effects 0.000 claims description 9
 239000011159 matrix material Substances 0.000 claims description 6
 230000001133 acceleration Effects 0.000 claims description 5
 239000012467 final product Substances 0.000 claims description 3
 238000009434 installation Methods 0.000 claims description 3
 230000003068 static Effects 0.000 claims description 3
 238000004519 manufacturing process Methods 0.000 description 2
 230000005540 biological transmission Effects 0.000 description 1
 238000010586 diagram Methods 0.000 description 1
 238000006073 displacement reaction Methods 0.000 description 1
 230000000694 effects Effects 0.000 description 1
 238000005265 energy consumption Methods 0.000 description 1
 238000003032 molecular docking Methods 0.000 description 1
 239000000047 product Substances 0.000 description 1
 230000001141 propulsive Effects 0.000 description 1
 238000005096 rolling process Methods 0.000 description 1
 230000026676 system process Effects 0.000 description 1
 230000017105 transposition Effects 0.000 description 1
Abstract
The invention provides a pose adjustment track planning method for plane side wall component assembling. The method includes the steps that (1) a fixed target mirror is installed on a tool base, the coordinate of the target mirror is measured by means of a laser tracking instrument, and a fixed coordinate system A is built; (2) a target mirror is installed on a plane side wall component, and a followup coordinate system B is built on the plane side wall component; (3) each positioning device is provided with a target mirror and a drive coordinate system Mi is built; (4) the pose of the followup coordinate system B in the fixed coordinate system A is calculated, and the initial pose of the plane side wall component is obtained; (5) target mirrors are installed on four clamping points, the coordinates of the target mirrors are measured by means of the laser tracking instrument, the initial coordinates of the clamping points in the fixed coordinate system A are obtained, and the position vector at the drive coordinate system M is inversed solved; (6) a rotating motion track is planned; (7) a translational motion track is planned. According to the method, difficulty of a pose adjustment system in controlling multishaft coordination drive is effectively reduced, and the pose adjustment track planning problem that in the assembling process, the beginning and end poses of the plane side wall components are known but motion paths are undetermined is solved.
Description
(1) technical field
The invention provides a kind of aircraft side member assembling posture adjustment method for planning track, it is based on sixdegreeoffreedom parallel connection mechanism aircraft side member assembling posture adjustment method for planning track, belongs to aircraft components assembly technique field.
(2) technical background
Nearly ten or twenty is over year, and the Aviation Manufacturing Enterprises that Boeing and Air Passenger company be representative of take is greatly developed the digitalisation assembly technique, generally adopts Digitalflexible Assembly Tool.The digital tool of a large amount of like this highly versatiles can repeated usage, not only the production cycle be can shorten, improve fitting process, assembly quality and work efficiency thereof greatly improved, and the assembling that goes for concentrating different aircraft products or parts due to its commonality and alerting ability, reduced significantly frock quantity.At present, the aircraft assembly technique of China is compared with developed countries also very backward.Each main engine plants are basically still following and take in the past few decades the handicraft workshop pattern and be main aircraft assembly technique, adopt a large amount of standard frocks and specialpurpose assembly tooling.
Aircraft components mostly adopts a plurality of steady arms to be supported in the posture adjustment fitting process, by automation, controls, and realizes pose posture adjustment and the docking of parts.Flexible assembly fixture based on multipoint support has the advantages such as stiffness/weight ratio is large, loadcarrying capacity strong, fast response time as a kind of typical case's application of parallel institution, but be based on the posture adjustment assembly system of steady arm, generally all need the multiaxis redundant drive, control method is had higher requirement.
Trajectory planning is a key issue must considering in many Design of Motion Control System processes, the mechanism's task of whether finishing the work on request that rationally whether will be directly connected to of its planning.A good trajectory planning even can make some performance figure of mechanism be optimized, and such as time, energy consumption, propulsive effort (moment) etc., these are all the common trajectory planning targets of parallel institution.Multishaft motion control system is carried out to rational trajectory planning, reduce the control difficulty necessary.
(3) summary of the invention
1, purpose:
The objective of the invention is to propose a kind of aircraft side member assembling posture adjustment method for planning track, it is the AircraftOriented side member flexible assembly pose_adjuster in conjunction with autonomous Design, propose a kind ofly based on the complete uncertain pose of the known and motion path of side member pose at the whole story, to adjust method for planning track, to reduce the pose_adjuster multiaxis, coordinate the control difficulty driven.
2, technical scheme:
(1) first introduce the flexible assembly pose_adjuster: as shown in Figure 1, this sixdegreeoffreedom parallel connection mechanism aircraft side member flexible assembly pose_adjuster, before and after mainly being by four, the accurate threecoordinate positioner of two rows, high level matches with low level layout forms.See Fig. 2, the aircraft side member is considered as to moving platform, with four steady arms, jointly form the 4PPPS parallel institution, can realize the 6DOF pose adjustment of aircraft side member space.Annexation between them is: each PPPS props up chain end and the aircraft side member connects to form typed ball bearing pair by ball pivot, then by three mutually orthogonal moving sets, with silent flatform, is connected successively.Frontseat two steady arms are for supporting aircraft side member lower portion; Two steady arms of rear row are for supporting side walls component top position.Every threecoordinate positioner comprises that 4 parts: x is to moving assembly, y to moving assembly, z to moving assembly and process connection.Between aircraft side member and steady arm, by process connection, be connected, this process connection can be considered ball and socket.The steady arm x, y, z to movement carry out precision by servomotor and drive.
Described PPPS side chain is fast by ball pivot, holddown arm, cross holder, column, guide rail, base form.The holddown arm end is connected with the aircraft side member by ball pivot, and holddown arm and cross holder are fast, the cross holder is fast and column, column and base are connected to form moving sets by guide rail slide block successively.
Described silent flatform refer to the adjustment level fixing with ground the assembly jig base,
Moving sets in the present invention adopts ballscrew and nut structure to realize single degree of freedom transmission campaign, and nut and driven assembly are fixed, and each moving assembly all moves along rolling linear guide.
In the present invention, unidirectional guide rail is parallel to each other, and the guide rail of different directions is mutually orthogonal.
(2) a kind of aircraft side member assembling of the present invention posture adjustment method for planning track, the method step is as follows:
Step 1: the fixed target mirror is installed on the tooling base of aircraft components erecting yard, is utilized laser tracker to measure target mirror coordinate, set up a fixed coordinate system oxyz on tooling base, be designated as { A};
Step 2: the target mirror is installed on the aircraft side member, and { coordinate in A} is set up one with moving coordinate system o 'x ' y ' z ' on the aircraft side member, is designated as { B} at fixed coordinate system to utilize laser tracker to measure the target mirror; Its origin of coordinates is at { the position vector p in A}
^{a}=(p
_{x}p
_{y}p
_{z})
^{t}, at { the attitude matrix R in A}
_{aB};
Step 3: the target mirror is installed on every steady arm, is utilized laser tracker to measure the target mirror at fixed coordinate system { coordinate o in A}
^{i}, set up one and drive system of axes o on every steady arm
^{i}x
^{i}y
^{i}z
^{i}, be designated as { M
_{i}(i=1,2,3,4), the origin of coordinates is { position vector in A} is m
_{i} ^{a};
Step 4: calculate that { { pose in A}, be the initial pose of aircraft side member to B}, is designated as U at fixed coordinate system with moving coordinate system
_{0};
Step 5: four nip points, the target mirror is installed, is utilized laser tracker to measure target mirror coordinate, { initial coordinate in A}, be designated as q at fixed coordinate system to obtain bite
_{i} ^{a}, (i=1,2,3,4); Antidrive solution moving coordinate system { the position vector q under M}
_{i} ^{m};
Step 6: trajectory planning rotatablely moves; First set the boundary condition of this trajectory planning, set the posture adjustment time T, given aircraft side member object pose U
_{t}and posture adjustment process kinematic boundary condition, be designated as:
1) pose boundary condition: U (0)=U
_{0}, U (T)=U
_{t};
2) velocity boundary conditions: v (0)=v
_{0}, v (T)=v
_{t};
3) acceleartion boundary condition: a (0)=a
_{0}, a (T)=a
_{t};
Calculate each steady arm driving amount;
Step 7: motion of translation trajectory planning; First set the boundary condition of this trajectory planning, set the posture adjustment time T, given aircraft side member object pose U
_{t}and posture adjustment process kinematic boundary condition, be designated as:
1) pose boundary condition: U (0)=U
_{0}, U (T)=U
_{t};
2) velocity boundary conditions: v (0)=v
_{0}, v (T)=v
_{t};
3) acceleartion boundary condition: a (0)=a
_{0}, a (T)=a
_{t}.
Calculate each steady arm driving amount.
Wherein, " set up a fixed coordinate system oxyz on tooling base, be designated as { A} " described in step 1, its method for building up is:
A target mirror f first is installed on base
_{0}, its position gets final product about the base middle part, as fixed coordinate system { the initial point o of A}; O point vertical direction and with guide's x parallel direction on a target mirror f is installed respectively
_{z}, f
_{x}.With vector
as the x axle, with vector
direction, as the z direction of principal axis, is determined the y direction of principal axis according to righthand rule, as shown in Figure 1.
Wherein, " set up on the aircraft side member with moving coordinate system { B} " described in step 2, its method for building up is;
In aircraft side member approximate center, one target mirror f is installed
_{o '}as moving coordinate system the initial point o ' of B}, and on the aircraft side member roughly with target mirror f
_{o '}installation target mirror f vertically and on horizontal direction
_{z '}, f
_{x '}.With vector
as x ' axle, with vector
direction, as z ' direction of principal axis, is determined y ' direction of principal axis according to righthand rule.
Wherein, " setting up and driving system of axes o on every steady arm described in step 3
^{i}x
^{i}y
^{i}z
^{i}, be designated as { M
_{i}", the method for its foundation is;
In the column bottom, one target mirror f is installed
_{o} ^{i}as driving system of axes { M
_{i}initial point o
^{i}, x
^{i}, y
^{i}, z
^{i}all with fixed coordinate system, { the x, y, z direction of principal axis of A} is corresponding consistent for direction of principal axis.
Wherein, " calculating that { { pose in A}, be the initial pose of aircraft side member to B}, is designated as U at fixed coordinate system with moving coordinate system described in step 4
_{0}", the method for its calculating is:
Utilize target mirror f on laser tracker instrumentation airplane side member
_{o '}fixed coordinate system the position in A}, and as the aircraft side member at fixed coordinate system { the initial position vector p in A}
^{a}=(p
_{x}p
_{y}p
_{z})
^{t}.If under initial condition, with moving coordinate system, { with respect to fixed coordinate system, { Eulerian angles of A}z, x, z rotation order are α (0), β (0), γ (0) to B}.With moving coordinate system B} with respect to fixed coordinate system the attitude transition matrix of A} is:
Can obtain initial pose U
_{0}=[p
_{x}(0) p
_{y}(0) p
_{z}(0) α (0) β (0) γ (0)]
^{t}.
Wherein, at " the antidrive solution moving coordinate system { M described in step 5
_{i}under position vector q
_{i} ^{m}", its antimethod of separating is:
To steady arm i (i=1～4), its bite is in { the position vector in A}
{ in B}, position vector is q
_{i} ^{b}, have:
{ M
_{i}and the A} coordinate axle is parallel to each other, and in whole side member posture adjustment process, { M
_{i}with { A} is relative static, so R
_{a} ^{mi}be 3 * 3 identity matrixs.Bite is at { M
_{i}in position vector be q
_{i} ^{mi}have
Simultaneous formula (1) and formula (2) can obtain
By q
_{i} ^{mi}to driving system of axes { M
_{i}three main shaft coordinate projections can obtain each joint variable of steady arm i.To (3) formula differentiate, can draw the joint velocity vector of steady arm i and the relation between acceleration and side member pose.
。
Wherein, " trajectory planning rotatablely moves " described in step 6, the method for its trajectory planning is:
Adopt five order polynomials to carry out matching to the track that rotatablely moves, take Eulerian angles α as example, the rotatablely move equation of locus of side member from initial pose to the object pose process can be expressed as:
Kinematic boundary condition substitution (6) formula can be solved:
T in formula
_{r}for the time of rotatablely moving, α
_{0}for initial attitude Eulerian angles, α
_{0}=α (0), Δ α=α (T
_{r})α (0).
Utilize similarly method for planning track of α (t), the track that can try to achieve β and γ is:
Can obtain the side member track U that rotatablely moves by formula (6), (7)
_{r}(t) be:
U
_{R}(t)=[p
_{x}(0) p
_{y}(0) p
_{z}(0) α(t) β(t) γ(t)]
^{T} (8)
[p in formula
_{x}(0) p
_{y}(0) p
_{z}(0)]
^{t}=p
_{a}(0), be the position vector of side member at initial pose place.The path of motion that formula (8) substitution formula (3), (4) can be tried to achieve to each joint of steady arm in the side member rotary movement is:
。
Wherein, " calculating each steady arm driving amount " described in step 6, its method of calculating is:
By what try to achieve in formula (9)
respectively to { M
_{i}the change in coordinate axis direction projection can obtain the corresponding driving amount driven.
Wherein, at " motion of translation trajectory planning " described in step 7, the method for its trajectory planning is:
After side member completes the attitude adjustment, will be in targeted attitude [α (T
_{r}) β (T
_{r}) γ (T
_{r})]
^{t}, only need to carry out motion of translation along three directions of x, y, z respectively and can complete the pose adjustment.Motion of translation for side member adopts " acceleratingat the uniform velocitydeceleration " velocity mode, with segmental cubic polynomials, carries out trajectory planning.In the motion of translation trajectory planning, make accelerator and moderating process symmetry.The track U of motion of translation
_{p}(t) be:
U
_{P}(t)=[p
_{x}(t) p
_{y}(t) p
_{z}(t) α(T
_{R}) β(T
_{R}) γ(T
_{R})]
^{T} (10)
T in formula
_{p}for the side member motion of translation time.Formula (10) substitution formula (3), (4) can be tried to achieve to the path of motion in each joint of steady arm in side member motion of translation process.
。
Wherein, " calculating each steady arm driving amount " described in step 7, its method of calculating is:
By what try to achieve in formula (11)
respectively to { M
_{i}the change in coordinate axis direction projection can obtain the corresponding driving amount driven.
3, advantage and effect
The present invention, in conjunction with the AircraftOriented side member flexible assembly pose_adjuster of autonomous Design, is decomposed into attitude by the adjustment of aircraft side member pose and adjusts whole two stages of peaceful transposition.Take the time as variable, carry out successively the adjustment of six spatial coordinates variablees, effectively reduce the pose_adjuster multiaxis and coordinate the control difficulty driven.Solved in fitting process that aircraft side member pose at the whole story is known and the complete uncertain pose of motion path is adjusted trajectory planning problem.
(4) accompanying drawing explanation
Fig. 1 is aircraft side member assembly tooling schematic diagram involved in the present invention.
Fig. 2 is aircraft side member assembly tooling kinematic sketch of mechanism involved in the present invention.
Fig. 3 is operational flowchart of the present invention.
In figure, nomenclature is as follows:
1 process connection, 2 line slideways, 3 holddown arms, 4 cross trays, 5 columns, 6 slide blocks, 7 line slideways, 8 tooling bases, 9 aircraft side member, 10z is to moving sets, and 11y is to moving sets, 12 typed ball bearing pair, 13x is to moving sets, 14 tooling bases.
(5) specific embodiment
See Fig. 1 to Fig. 3, a kind of aircraft side member assembling of the present invention posture adjustment method for planning track, its concrete implementation step is as follows:
Step 1: the fixed target mirror is installed on the tooling base of aircraft components erecting yard, is utilized laser tracker to measure target mirror coordinate, set up a fixed coordinate system oxyz on tooling base, be designated as { A};
Step 2: the target mirror is installed on the aircraft side member, and { coordinate in A} is set up one with moving coordinate system o 'x ' y ' z ' on the aircraft side member, is designated as { B} at fixed coordinate system to utilize laser tracker to measure the target mirror.Its origin of coordinates is at { the position vector p in A}
^{a}=(p
_{x}p
_{y}p
_{z})
^{t}, at { the attitude matrix R in A}
_{aB};
Step 3: the target mirror is installed on every steady arm, is utilized laser tracker to measure the target mirror at fixed coordinate system { coordinate o in A}
^{i}, set up one and drive system of axes o on every steady arm
^{i}x
^{i}y
^{i}z
^{i}, be designated as { M
_{i}(i=1,2,3,4), the origin of coordinates is { position vector in A} is m
_{i} ^{a};
Step 4: calculate that { { pose in A}, be the initial pose of aircraft side member to B}, is designated as U at fixed coordinate system with moving coordinate system
_{0};
Step 5: four nip points, the target mirror is installed, is utilized laser tracker to measure target mirror coordinate, { initial coordinate in A}, be designated as q at fixed coordinate system to obtain bite
_{i} ^{a}, (i=1,2,3,4).Antidrive solution moving coordinate system { the position vector q under M}
_{i} ^{m};
Step 6: trajectory planning rotatablely moves.Set the posture adjustment time T, given aircraft side member object pose U
_{t}and posture adjustment process kinematic boundary condition.Be designated as:
1) pose boundary condition: U (0)=U
_{0}, U (T)=U
_{t};
2) velocity boundary conditions: v (0)=v
_{0}, v (T)=v
_{t};
3) acceleartion boundary condition: a (0)=a
_{0}, a (T)=a
_{t}.
Calculate each steady arm driving amount;
Step 7: motion of translation trajectory planning.Set the posture adjustment time T, given aircraft side member object pose U
_{t}and posture adjustment process kinematic boundary condition.Be designated as:
1) pose boundary condition: U (0)=U
_{0}, U (T)=U
_{t};
2) velocity boundary conditions: v (0)=v
_{0}, v (T)=v
_{t};
3) acceleartion boundary condition: a (0)=a
_{0}, a (T)=a
_{t}.
Calculate each steady arm driving amount.
Wherein, described in step 1 tooling base set up fixed coordinate system the method for A} is:
A target mirror f first is installed on base
_{0}, its position gets final product about the base middle part, as fixed coordinate system { the initial point o of A}; O point vertical direction and with guide's x parallel direction on a target mirror f is installed respectively
_{z}, f
_{x}.With vector
as the x axle, with vector
direction, as the z direction of principal axis, is determined the y direction of principal axis according to righthand rule, as shown in Figure 1.
Wherein, with moving coordinate system, { method of B} is setting up on the aircraft side member described in step 2;
In aircraft side member approximate center, one target mirror f is installed
_{o '}as moving coordinate system the initial point o ' of B}, and on the aircraft side member roughly with target mirror f
_{o '}installation target mirror f vertically and on horizontal direction
_{z '}, f
_{x '}.With vector
as x ' axle, with vector
direction, as z ' direction of principal axis, is determined y ' direction of principal axis according to righthand rule, as shown in Figure 1.
Wherein, setting up on steady arm and driving system of axes { M described in step 3
_{i}method be;
In the column bottom, one target mirror f is installed
_{o} ^{i}as driving system of axes { M
_{i}initial point o
^{i}, x
^{i}, y
^{i}, z
^{i}all with fixed coordinate system, { the x, y, z direction of principal axis of A} is corresponding consistent for direction of principal axis.
Wherein, in calculating described in step 4, with moving coordinate system, { B} is at fixed coordinate system { the initial pose U in A}
_{0}method be:
Utilize target mirror f on laser tracker instrumentation airplane side member
_{o '}fixed coordinate system the position in A}, and as the aircraft side member at fixed coordinate system { the initial position vector p in A}
^{a}=(p
_{x}p
_{y}p
_{z})
^{t}.If under initial condition, with moving coordinate system, { with respect to fixed coordinate system, { Eulerian angles of A}z, x, z rotation order are α (0), β (0), γ (0) to B}.With moving coordinate system B} with respect to fixed coordinate system the attitude transition matrix of A} is:
Can obtain initial pose U
_{0}=[p
_{x}(0) p
_{y}(0) p
_{z}(0) α (0) β (0) γ (0)]
^{t}
Wherein, at antidrive solution moving coordinate system { M described in step 5
_{i}under position vector q
_{i} ^{m}method be:
To steady arm i (i=1～4), its bite is at { the position vector q in A}
_{i} ^{a}=(q
_{ix} ^{a}q
_{iy} ^{a}q
_{iz} ^{a})
^{t}, { in B}, position vector is q
_{i} ^{b}, have:
{ M
_{i}and the A} coordinate axle is parallel to each other, and in whole side member posture adjustment process, { M
_{i}with { A} is relative static, so R
_{a} ^{mi}be 3 * 3 identity matrixs.Bite is at { M
_{i}in position vector be q
_{i} ^{mi}, have
Simultaneous formula (1) and formula (2) can obtain
By q
_{i} ^{mi}to driving system of axes { M
_{i}three main shaft coordinate projections can obtain each joint variable of steady arm i.To (3) formula differentiate, can draw the joint velocity vector of steady arm i and the relation between acceleration and side member pose.
Wherein, the method at the trajectory planning that rotatablely moves described in step 6 is:
Set kinematic boundary condition in test as follows:
1) pose boundary condition: U
_{0}(0,0,0,0,0,0)
^{t}, U
_{t}=(0,0,0,0.015 ,0.02,0.03)
^{t}
2) velocity boundary conditions: v (0)=0, v (T)=0;
3) acceleartion boundary condition: α (0)=0, α (T)=0.
Adopt five order polynomials to carry out matching to the track that rotatablely moves, take Eulerian angles α as example, the rotatablely move equation of locus of side member from initial pose to the object pose process can be expressed as:
Kinematic boundary condition substitution (6) formula can be solved:
Carry out successively the adjustment of Eulerian angles α, β, γ in test, adjust time series T
_{r}=(18,25,30), initial attitude Eulerian angles α
_{0}=(0,0,0), targeted attitude Eulerian angles α (T
_{r})=(0.015 ,0.02,0.03), Δ α=α (T
_{r})α (0)=(0.015 ,0.02,0.03).
Utilize similarly method for planning track of α (t), the track that can try to achieve β and γ is:
Can obtain the side member track U that rotatablely moves by formula (6), (7)
_{r}(t) be:
U
_{R}(t)=[p
_{x}(0) p
_{y}(0) p
_{z}(0) α(t) β(t) γ(t)]
^{T} (8)
[p in formula
_{x}(0) p
_{y}(0) p
_{z}(0)]
^{t}=P
_{a}(0), be the position vector of side member at initial pose place.The path of motion that formula (8) substitution formula (3), (4) can be tried to achieve to each joint of steady arm in the side member rotary movement is:
Wherein, " calculating each steady arm driving amount " described in step 6, its method of calculating is:
By what try to achieve in formula (9)
respectively to { M
_{i}the change in coordinate axis direction projection can obtain the corresponding driving amount driven.
Wherein, the method at the trajectory planning of motion of translation described in step 7 is:
After side member completes the attitude adjustment, will be in targeted attitude [α (T
_{r}) β (T
_{r}) γ (T
_{r})]
^{t}, only need to carry out motion of translation along three directions of x, y, z respectively and can complete the pose adjustment, the track U of motion of translation
_{p}(t) be:
U
_{p}(t)=[p
_{x}(t) p
_{y}(t) p
_{z}(t) α(T
_{R}) β(T
_{R}) γ(T
_{R}))]
^{T} (10)
Set kinematic boundary condition in test as follows:
1) pose boundary condition: U
_{0}=(0,0,0,0,0,0)
^{t}, U
_{t}=(30 ,45,25,0,0,0)
^{t}
2) velocity boundary conditions: v (0)=0, v (T)=0;
3) acceleartion boundary condition: α (0)=0, α (T)=0.
Carry out successively the adjustment of x, y, x in test, adjust time series T
_{p}=(24,35,22)
In aircraft side member motion of translation process, the path of motion of the path of motion of steady arm and aircraft side member is identical.Adopt " accelerating an at the uniform velocity deceleration " velocity mode, with segmental cubic polynomials, carry out trajectory planning.In the motion of translation trajectory planning, make accelerator and moderating process symmetry.The motion of translation of take in the xdirection is example (y to z to identical), and the acceleration/accel of side member, speed, location track are respectively shown in formula (11), (12), (13).
By 6 kinematic boundary condition substitution formulas (11), (12), (13), be combined in the continuity of side member displacement, speed and acceleration trajectory in the motion of translation process respectively simultaneously, can solve that to obtain the motion of translation equation of locus as follows:
T in formula
_{p}for side member motion of translation time, p
_{x0}for the position coordinate at initial pose place, p
_{x0}=p
_{x}(0), Δ p
_{x}=p
_{x}(T
_{p})p
_{x}(0).P
_{y}and p (t)
_{z}(t) the same p of trajectory planning
_{x}(t), by p
_{x}(t), p
_{y}(t), p
_{z}(t) substitution formula (10) can obtain the track of side member motion of translation.
Wherein, " calculating each steady arm driving amount " described in step 7, its method of calculating is:
By what try to achieve in formula (11)
respectively to { M
_{i}the change in coordinate axis direction projection can obtain the corresponding driving amount driven.
Claims (10)
1. an aircraft side member is assembled the posture adjustment method for planning track, and it is characterized in that: the method step is as follows:
Step 1: the fixed target mirror is installed on the tooling base of aircraft components erecting yard, is utilized laser tracker to measure target mirror coordinate, set up a fixed coordinate system oxyz on tooling base, be designated as { A };
Step 2: the target mirror is installed on the aircraft side member, is utilized laser tracker to measure target mirror coordinate in fixed coordinate system { A }, set up one with moving coordinate system o 'x ' y ' z ' on the aircraft side member, be designated as { B}; Its origin of coordinates is at { the position vector p in A}
^{a}=(p
_{x}p
_{y}p
_{z})
^{t}, the attitude matrix R in { A }
_{aB};
Step 3: the target mirror is installed on every steady arm, is utilized laser tracker to measure target mirror coordinate o in fixed coordinate system { A }
^{i}, set up one and drive system of axes o on every steady arm
^{i}x
^{i}y
^{i}z
^{i}, be designated as { M
_{i}, i=1,2,3,4, the position vector of the origin of coordinates in { A } is m
_{i} ^{a};
Step 4: calculate the pose in fixed coordinate system { A } with moving coordinate system { B }, be the initial pose of aircraft side member, be designated as U
_{0};
Step 5: four nip points, the target mirror is installed, is utilized laser tracker to measure target mirror coordinate, obtain the initial coordinate of bite in fixed coordinate system { A }, be designated as q
_{i} ^{a}, i=1,2,3,4; Position vector q under antidrive solution moving coordinate system { M }
_{i} ^{m};
Step 6: trajectory planning rotatablely moves; First set the boundary condition of this trajectory planning, set the posture adjustment time T, given aircraft side member object pose U
_{t}and posture adjustment process kinematic boundary condition, be designated as:
1) pose boundary condition: U (0)=U
_{0}, U (T)=U
_{t};
2) velocity boundary conditions: v (0)=v
_{0}, v (T)=v
_{t};
3) acceleartion boundary condition: a (0)=a
_{0}, a (T)=a
_{t};
Calculate each steady arm driving amount;
Step 7: motion of translation trajectory planning; First set the boundary condition of this trajectory planning, set the posture adjustment time T, given aircraft side member object pose U
_{t}and posture adjustment process kinematic boundary condition, be designated as:
1) pose boundary condition: U (0)=U
_{0}, U (T)=U
_{t};
2) velocity boundary conditions: v (0)=v
_{0}, v (T)=v
_{t};
3) acceleartion boundary condition: a (0)=a
_{0}, a (T)=a
_{t};
Calculate each steady arm driving amount.
2. a kind of aircraft side member according to claim 1 is assembled the posture adjustment method for planning track, it is characterized in that:
" set up a fixed coordinate system oxyz on tooling base, be designated as { A } " described in step 1, its method for building up is: a target mirror f first is installed on base
_{0}, its position gets final product at the base middle part, as the initial point o of fixed coordinate system { A }; O point vertical direction and with guide's x parallel direction on a target mirror f is installed respectively
_{z}, f
_{x}, with vector
as the x axle, with vector
direction, as the z direction of principal axis, is determined the y direction of principal axis according to righthand rule.
3. a kind of aircraft side member according to claim 1 is assembled the posture adjustment method for planning track, it is characterized in that:
" setting up with moving coordinate system { B } on the aircraft side member " described in step 2, its method for building up is: a target mirror f is installed in aircraft side member center
_{o '}as the initial point o ' of moving coordinate system { B }, on the aircraft side member with target mirror f
_{o '}installation target mirror f vertically and on horizontal direction
_{z '}, f
_{x '}, with vector
as x ' axle, with vector
direction, as z ' direction of principal axis, is determined y ' direction of principal axis according to righthand rule.
4. a kind of aircraft side member according to claim 1 is assembled the posture adjustment method for planning track, it is characterized in that:
" setting up and driving system of axes o on every steady arm described in step 3
^{i}x
^{i}y
^{i}z
^{i}, be designated as { M
_{i}", the method for its foundation is: in the column bottom, one target mirror f is installed
_{o} ^{1}as driving system of axes { M
_{i}initial point o
^{i}, x
^{i}, y
^{i}, z
^{i}all with fixed coordinate system, { the x, y, z direction of principal axis of A} is corresponding consistent for direction of principal axis.
5. a kind of aircraft side member according to claim 1 is assembled the posture adjustment method for planning track, it is characterized in that:
" calculating the pose in fixed coordinate system { A } with moving coordinate system { B }, being the initial pose of aircraft side member, being designated as U described in step 4
_{0}", the method for its calculating is:
Utilize target mirror f on laser tracker instrumentation airplane side member
_{o '}fixed coordinate system the position in A}, and as the aircraft side member at fixed coordinate system { the initial position vector p in A}
^{a}=(p
_{x}p
_{y}p
_{z})
^{t}; If under initial condition, with moving coordinate system { B }, with respect to the Eulerian angles of fixed coordinate system { A } z, x, z rotation order, be a (0), β (0), γ (0), with moving coordinate system { B } with respect to fixed coordinate system the attitude transition matrix of A} is:
Obtain initial pose U
_{0}=[p
_{x}(0) p
_{y}(0) p
_{z}(0) α (0) β (0) γ (0)]
^{t}.
6. a kind of aircraft side member according to claim 1 is assembled the posture adjustment method for planning track, it is characterized in that:
At " the antidrive solution moving coordinate system { M described in step 5
_{i}under position vector q
_{i} ^{m}", its antimethod of separating is:
To steady arm I (i=1～4), its bite is in { the position vector in A}
{ in B}, position vector is q
_{i} ^{b}, have:
{ M
_{i}and the A} coordinate axle is parallel to each other, and in whole side member posture adjustment process, { M
_{i}with { A} is relative static, so R
_{a} ^{mi}be 3 * 3 identity matrixs, bite is at { M
_{i}) in position vector be q
_{i} ^{mi}, have
Simultaneous formula (1) and formula (2)
By q
_{i} ^{mi}to driving system of axes { M
_{i}three main shaft coordinate projections obtain each joint variable of steady arm i; To (3) formula differentiate, draw the joint velocity vector of steady arm i and the relation between acceleration and side member pose:
。
7. a kind of aircraft side member according to claim 1 is assembled the posture adjustment method for planning track, it is characterized in that:
" trajectory planning rotatablely moves " described in step 6, the method for this trajectory planning is:
Adopt five order polynomials to carry out matching to the track that rotatablely moves, take Eulerian angles α as example, the rotatablely move equation of locus of side member from initial pose to the object pose process is expressed as:
Kinematic boundary condition substitution (6) formula is solved:
T in formula
_{r}for the time of rotatablely moving, α
_{0}for initial attitude Eulerian angles, α
_{0}=α (0), Δ α=α (T
_{r})α (0);
Utilize similarly method for planning track of α (t), the track of trying to achieve β and γ is:
By formula (6), (7) the side member track U that rotatablely moves
_{r}(t) be:
U
_{R}(t)＝[p
_{x}(0) p
_{y}(0) p
_{z}(0) α(t) β(t) γ(t)]
^{T} (8)
[p in formula
_{x}(0) p
_{y}(0) p
_{z}(0)]
^{t}=p
_{a}(0), be the position vector of side member at initial pose place; The path of motion of formula (8) substitution formula (3), (4) being tried to achieve to each joint of steady arm in the side member rotary movement is:
。
8. a kind of aircraft side member according to claim 1 is assembled the posture adjustment method for planning track, it is characterized in that:
" calculating each steady arm driving amount " described in step 6, its method of calculating is: by what try to achieve in formula (9)
respectively to { M
_{i}the change in coordinate axis direction projection obtain the corresponding driving amount driven.
9. a kind of aircraft side member according to claim 1 is assembled the posture adjustment method for planning track, it is characterized in that:
At " motion of translation trajectory planning " described in step 7, the method for this trajectory planning is:
After side member completes the attitude adjustment, will be in targeted attitude [α (T
_{r}) β (T
_{r}) γ (T
_{r})]
^{t}, only need to carry out motion of translation along three directions of x, y, z respectively and complete the pose adjustment; Motion of translation for side member adopts " acceleratingat the uniform velocitydeceleration " velocity mode, with segmental cubic polynomials, carries out trajectory planning; In the motion of translation trajectory planning, make accelerator and moderating process symmetry, the track U of motion of translation
_{p}(t) be:
U
_{P}(t)=[p
_{x}(t) p
_{y}(t) p
_{z}(t) α(T
_{R}) β(T
_{R}) γ(T
_{R})]
^{T} (10)
T in formula
_{p}for the side member motion of translation time; Formula (10) substitution formula (3), (4) are tried to achieve to the path of motion in each joint of steady arm in side member motion of translation process;
。
10. a kind of aircraft side member according to claim 1 is assembled the posture adjustment method for planning track, it is characterized in that:
" calculating each steady arm driving amount " described in step 7, its method of calculating is:
By what try to achieve in formula (11)
respectively to { M
_{i}the change in coordinate axis direction projection obtain the corresponding driving amount driven.
Priority Applications (1)
Application Number  Priority Date  Filing Date  Title 

CN201310384485.4A CN103496449B (en)  20130829  20130829  A kind of aircraft side walls parts assembling posture adjustment method for planning track 
Applications Claiming Priority (1)
Application Number  Priority Date  Filing Date  Title 

CN201310384485.4A CN103496449B (en)  20130829  20130829  A kind of aircraft side walls parts assembling posture adjustment method for planning track 
Publications (2)
Publication Number  Publication Date 

CN103496449A true CN103496449A (en)  20140108 
CN103496449B CN103496449B (en)  20150930 
Family
ID=49861746
Family Applications (1)
Application Number  Title  Priority Date  Filing Date 

CN201310384485.4A Expired  Fee Related CN103496449B (en)  20130829  20130829  A kind of aircraft side walls parts assembling posture adjustment method for planning track 
Country Status (1)
Country  Link 

CN (1)  CN103496449B (en) 
Cited By (4)
Publication number  Priority date  Publication date  Assignee  Title 

CN105015800A (en) *  20150519  20151104  北京星航机电装备有限公司  Automatic assembly system of spacecraft cabin on ground 
CN105081719A (en) *  20150731  20151125  北京星航机电装备有限公司  Spacecraft cabin automatic assembly system based on visual measurement and assembly method thereof 
CN105651166A (en) *  20151230  20160608  哈尔滨工业大学  Spacecraft product final assembly precision measuring method based on workpiece coordinate system 
CN111351480A (en) *  20200317  20200630  北京航空航天大学  Aircraft attitude adjusting path optimization method based on rotation 
Citations (6)
Publication number  Priority date  Publication date  Assignee  Title 

RU2226168C1 (en) *  20020909  20040327  ГОУ "Иркутский государственный технический университет"  Method of placing article in preset spatial position and device for realization of this method 
CN101362511A (en) *  20080919  20090211  浙江大学  Synergetic control method of aircraft part pose alignment based on four locater 
CN101362515A (en) *  20080919  20090211  浙江大学  Path planning method of aircraft pose alignment 
CN101362514A (en) *  20080919  20090211  浙江大学  Pose alignment system and method of aircraft part based on three locater 
CN101456452A (en) *  20081225  20090617  浙江大学  Aircraft fuselage flexible and automatic attitudeadjusting method 
CN102001451A (en) *  20101112  20110406  浙江大学  Airplane component attitude adjusting and butting system based on four numeric control positioners, attitude adjusting platform and mobile bracket and corresponding method 

2013
 20130829 CN CN201310384485.4A patent/CN103496449B/en not_active Expired  Fee Related
Patent Citations (6)
Publication number  Priority date  Publication date  Assignee  Title 

RU2226168C1 (en) *  20020909  20040327  ГОУ "Иркутский государственный технический университет"  Method of placing article in preset spatial position and device for realization of this method 
CN101362511A (en) *  20080919  20090211  浙江大学  Synergetic control method of aircraft part pose alignment based on four locater 
CN101362515A (en) *  20080919  20090211  浙江大学  Path planning method of aircraft pose alignment 
CN101362514A (en) *  20080919  20090211  浙江大学  Pose alignment system and method of aircraft part based on three locater 
CN101456452A (en) *  20081225  20090617  浙江大学  Aircraft fuselage flexible and automatic attitudeadjusting method 
CN102001451A (en) *  20101112  20110406  浙江大学  Airplane component attitude adjusting and butting system based on four numeric control positioners, attitude adjusting platform and mobile bracket and corresponding method 
NonPatent Citations (2)
Title 

王丽秀: "飞机柔性装配制孔设备的工件坐标系建立方法", 《机械设计与制造》 * 
邹冀华等: "大型飞机部件数字化对接装配技术研究", 《计算机集成制造系统》 * 
Cited By (5)
Publication number  Priority date  Publication date  Assignee  Title 

CN105015800A (en) *  20150519  20151104  北京星航机电装备有限公司  Automatic assembly system of spacecraft cabin on ground 
CN105081719A (en) *  20150731  20151125  北京星航机电装备有限公司  Spacecraft cabin automatic assembly system based on visual measurement and assembly method thereof 
CN105651166A (en) *  20151230  20160608  哈尔滨工业大学  Spacecraft product final assembly precision measuring method based on workpiece coordinate system 
CN105651166B (en) *  20151230  20180424  哈尔滨工业大学  Spacecraft product final assemble accuracy measurement method based on workpiece coordinate system 
CN111351480A (en) *  20200317  20200630  北京航空航天大学  Aircraft attitude adjusting path optimization method based on rotation 
Also Published As
Publication number  Publication date 

CN103496449B (en)  20150930 
Similar Documents
Publication  Publication Date  Title 

CN103496449A (en)  Pose adjustment track planning method for plane side wall component assembling  
CN102001451B (en)  Airplane component attitude adjusting and butting system based on four numeric control positioners, attitude adjusting platform and mobile bracket and corresponding method  
CN108161896B (en)  6PSS parallel mechanism  
CN102853978B (en)  Testing device and method for threedimensional static stiffness loading of machine tool  
CN109605371B (en)  Mobile hybrid robot processing integrated system  
BR102015008464A2 (en)  apparatus and method for supporting a structure  
CN105974822B (en)  A kind of spacecraft, which is independently diversion, intersects the verification method of control system ground validation device  
CN102941545B (en)  Flexible tool for assembling rowline chuck type wall board  
CN101907893A (en)  Aircraft component attitude adjusting assembly system based on parallel mechanism with six degrees of freedom and debugging method  
CN103979118A (en)  Airfoil wall plate digital positioning method and positioning device  
CN101362511A (en)  Synergetic control method of aircraft part pose alignment based on four locater  
CN108204879B (en)  A kind of measuring method and system of rotary inertia  
CN106885676B (en)  The nondecoupling mechanism in six degree of freedom end position and attitude error penalty method that aerodynamic loading generates  
CN102991724A (en)  Buttjoint method for largesize parts of airplane by work space measuring and positioning system  
CN111665784B (en)  Siemens subsystembased spatial positioning error compensation method  
CN109366503A (en)  The processing technology towards largescale component based on mobile seriesparallel robot  
CN100565407C (en)  Synergetic control method of aircraft part pose alignment based on three steady arms  
CN105015800A (en)  Automatic assembly system of spacecraft cabin on ground  
CN111929023B (en)  Aircraft model driving system in wind tunnel and performance measuring method  
CN106802226B (en)  position error compensation method caused by length change of tail strut of decoupling sixdegreeoffreedom mechanism  
Peng et al.  Development of an integrated laser sensors based measurement system for largescale components automated assembly application  
CN106840587B (en)  Six degree of freedom wind tunnel test end position and attitude error penalty method based on sixdimensional force measurement  
CN106873644B (en)  Highprecision attitude control method for aircraft ground simulation system translation mechanism  
CN103862458A (en)  Sixdegreeoffreedom parallel platform for airborne servo system  
Kondo et al.  Prototype model of tripod parallel mechanism with planar actuators for flight simulator 
Legal Events
Date  Code  Title  Description 

PB01  Publication  
C06  Publication  
SE01  Entry into force of request for substantive examination  
C10  Entry into substantive examination  
GR01  Patent grant  
C14  Grant of patent or utility model  
CF01  Termination of patent right due to nonpayment of annual fee 
Granted publication date: 20150930 Termination date: 20180829 

CF01  Termination of patent right due to nonpayment of annual fee 