随位串联三坐标定位器定位精度建模与试验  

Modeling and test of positioning accuracy for positioner with 3-axis randomly position connected in series

作　　者：巴晓甫 薛红前[1] 李西宁[1] BA Xiaofu;XUE Hongqian;LI Xining(School of Mechatronic Engineering,Northwestern Polytechnical University,Xi'an 710072,China;Department of Manufacturing Engineering,AVIC Xi'an Aircraft Industry Group Company Ltd.,Xi'an 710089,China)

机构地区：[1]西北工业大学机电学院,西安710072 [2]中航西安飞机工业集团股份有限公司制造工程部,西安710089

出　　处：《航空学报》2023年第19期301-312,共12页Acta Aeronautica et Astronautica Sinica

摘　　要：飞机部件自动化装配一般通过多台三坐标定位器的并联驱动实现,针对三坐标定位器的重组效率和定位精度对飞机部件的装配效率和精度影响较大的问题,提出三坐标定位器的3个直线运动模块的随位串联模式,通过对三坐标定位器随位串联所含形位误差引起的运动学逆解误差进行分析,建立运动学逆解补偿模型。试验结果表明:随位串联三坐标定位器的实际定位精度达到了0.025~0.038mm,满足新一代飞机部件装配对随位串联三坐标定位器的高精度要求。The automatic assembly of aircraft components is generally realized by parallel drive of multiple 3-axis positioners.However,the reconfiguration efficiency and positioning accuracy of single 3-axis positioner have great influence on the assembly efficiency and accuracy of aircraft components.Based on the analysis of the kinematical reverse solution error caused by the geometric errors from positioner with 3-axis randomly position connected in series,positioner with 3-axis randomly position connected in series is designed,and the error compensation model of the kinematical reverse solution is established.The experiment results show that the actual positioning accuracy of positioner with 3-axis randomly positioned series connection is up to 0.025-0.038 mm,which meets the high precision requirements of thenewgeneration aircraftcomponent assembly.

关 键 词：随位串联 三坐标定位器 定位精度 建模 装配 

分 类 号：V262[航空宇航科学与技术—航空宇航制造工程]