Trajectory Planning Algorithm Based on Quaternion for 6-DOF Aircraft Wing Automatic Position and Pose Adjustment Method  

作　　者：ZhuYongguo Huang Xiang Fang Wei Li Shuanggao 

机构地区：[1]Department of Mechanical and Electrical Engineering, Nanjing University of A eronautics and Astronautics, Nanjing 210016, China [2]Aeronautical Manufacturing Technology Institute, Shanghai Aircraft Manufacturing Co. Ltd., Shanghai 200436, China

出　　处：《Chinese Journal of Aeronautics》2010年第6期707-714,共8页中国航空学报（英文版）

基　　金：Basic Scientific Research Projects of Nanjing University of Aeronautics & Astronautics (NS 2010128)

摘　　要：A 6-degree of freedom （6-DOF） aircraft wing position and pose automatic adjustment method is presented to improve ARJ21 wing-fuselage connection precision and efficiency. Wing position and pose are adjusted by three pillars which are driven by six high-precision servo motors. During the adjustment process, wing is tracked and positioned by laser tracker. Wing initial position and pose are calibrated by using the measurement coordinates of assembly reference points. Wing target position and pose are calculated according to wing initial, fuselage position and pose, and relative position and pose requirements between wing and fuselage for the connection. Combining Newton-Euler method with quaternion position and pose analyzing method, the inverse kinematics of servo motors, together with the adjustment system dynamics is obtained. Wing quintic polynomial trajectory planning algorithm based on quatemion is proposed; the initial, target position and pose need to be solved and the intermediate moving path is uncertain. Simulation results show that the adjustment method has good dynamic characteristics and satisfies engineering requirements. Preliminary engineering application indicates that ARJ21 wing adjustment efficiency and precision are improved by using the proposed method.A 6-degree of freedom （6-DOF） aircraft wing position and pose automatic adjustment method is presented to improve ARJ21 wing-fuselage connection precision and efficiency. Wing position and pose are adjusted by three pillars which are driven by six high-precision servo motors. During the adjustment process, wing is tracked and positioned by laser tracker. Wing initial position and pose are calibrated by using the measurement coordinates of assembly reference points. Wing target position and pose are calculated according to wing initial, fuselage position and pose, and relative position and pose requirements between wing and fuselage for the connection. Combining Newton-Euler method with quaternion position and pose analyzing method, the inverse kinematics of servo motors, together with the adjustment system dynamics is obtained. Wing quintic polynomial trajectory planning algorithm based on quatemion is proposed; the initial, target position and pose need to be solved and the intermediate moving path is uncertain. Simulation results show that the adjustment method has good dynamic characteristics and satisfies engineering requirements. Preliminary engineering application indicates that ARJ21 wing adjustment efficiency and precision are improved by using the proposed method.

关 键 词：AIRCRAFT assembly calibration position and pose adjustment trajectory planning QUATERNION 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] V4[自动化与计算机技术—控制科学与工程]