双工位4-PPPS飞机装配对接系统几何参数标定方法  

Geometry Calibrations for the Double-position 4-PPPS Aircraft Fuselage Docking System

作　　者：祁若龙 张珂[1] 赵吉宾[2] 牟如意[2] 邢运隆 QI Ruolong;ZHANG Ke;ZHAO Jibin;MU Ruyi;XING Yunlong(School of Mechanical Engineering,Shenyang Jianzhu University,Shenyang 110168;State Key Laboratory of Robotics,Shenyang Institute of Automation Chinese Academy of Sciences,Shenyang 110016)

机构地区：[1]沈阳建筑大学机械工程学院,沈阳110168 [2]中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳110016

出　　处：《机械工程学报》2021年第7期33-43,共11页Journal of Mechanical Engineering

基　　金：中国博士后基金面上(2019M651145);辽宁省自然科学基金(2019-ZD-0663);机器人学国家重点实验室开放课题(2019-O21)资助项目。

摘　　要：双工位4-PPPS并联机构承载能力强、结构稳定,用于飞机机身舱段的装配过程以提高对接效率减轻劳动强度。然而由于对接系统为大尺寸分布式结构,且具有较大的制造和安装误差,很难保证实际对接精度。为了提高4-PPPS机身对接机构的定位精度,提出了两步精度提升方法:首先提出了一种均值迭代方法标定飞机坐标系的基准点,作为整个对接系统的参考坐标系,提升了测量坐标系和飞机坐标系之间的匹配精度。其次,提出了一种基于空间位姿矩阵微分的运动学标定方法,推导出了系统全误差导数方程,可以对多达42个运动学参数进行同时标定。通过本文方法,飞机舱段对接系统的最大位置误差从2.2 mm减小到0.035 mm,最大指向误差从0.08°减小到0.018°。精度测量和对接试验证明了所提出方法的有效性。A double work positions 4-PPPS parallel mechanism is used for the aircraft fuselage assembly process to improve the docking efficiency and reduce the labor intensity. However, the accuracy is hard to guarantee for the mechanism is large, redundant and has manufacturing and assembly errors. To improve the accuracy of the 4-PPPS parallel aircraft fuselage docking system, firstly an averaging iteration method is proposed to calibration the datum points in the airplane coordinate which are the references of the entire docking system. And secondly, a kinematic calibration method based on the derivative of the spatial pose transformation is proposed to calibrate up to 42 kinematic parameters. By these two methods, the final maximum position error reduces from 2.2 mm to 0.035 mm and the maximum pointing error reduced from 0.08° to 0.018°. The accuracy measurement and docking experiment prove the efficiency of the proposed methods.

关 键 词：飞机对接 冗余并联机构 运动学标定 全误差方程 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]