【摘 要】
：
飞机大部件对接装配一般通过多个定位器协调运动来实现,由于支撑需求,定位器存在驱动冗余,驱动方式存在多个方案,需要对不同方案进行分析和优选。文章分析定位器的空间布置和
【机 构】
：
上海交通大学上海市复杂薄板结构数字化制造重点实验室,上海交通大学机械系统与振动国家重点实验室,
论文部分内容阅读
飞机大部件对接装配一般通过多个定位器协调运动来实现,由于支撑需求,定位器存在驱动冗余,驱动方式存在多个方案,需要对不同方案进行分析和优选。文章分析定位器的空间布置和驱动方式对装配对接精度和效率的影响,将对接系统抽象为对接并联机构,采用螺旋理论分析了不同定位器布置和驱动方式的运动自由度,计算了不同驱动方式对位姿调整误差的影响。分析和比较了冗余驱动度小于2的几种典型驱动方式,得出了最优方案,为飞机大部件对接装配定位器的设计和控制提供了理论基础。
Docking assembly of large aircraft parts is generally achieved through the coordinated movement of multiple locators. Because of the support demand, the locator has redundancy in driving and there are several solutions in the driving mode. Therefore, different schemes need to be analyzed and optimized. The paper analyzes the influence of spatial arrangement and driving mode of locator on the precision and efficiency of assembly docking. The docking system is abstracted as the docking parallel mechanism. The screw mechanism is used to analyze the freedom of movement of different locator arrangement and driving mode. Effect on position adjustment error. Several typical driving modes with less than 2 redundancy drive are analyzed and compared, and the optimal scheme is obtained, which provides a theoretical basis for the design and control of aircraft large parts docking fixture.
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