A novel posture alignment system for aircraft wing assembly  

作　　者：Bin ZHANG Bao-guo YAO Ying-lin KE 

机构地区：[1]College of Mechanical and Energy Engineering, Zhejiang University, Hangzhou 310027, China

出　　处：《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》2009年第11期1624-1630,共7页浙江大学学报（英文版）A辑（应用物理与工程）

摘　　要：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.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.

关 键 词：Aircraft wings Three-coordinate positioner Posture alignment KINEMATICS Dynamics 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] P228[自动化与计算机技术—控制科学与工程]