基于三坐标定位器支撑的飞机大部件调姿内力

以基于定位器支撑的飞机大部件调姿、对接系统为研究对象,建立逆运动学及动力学模型.按照协调运动要求,分析其冗余驱动的本质.针对定位器的定位误差会直接引起调姿内力的问题,分析采用关节驱动力的最小范数解和改进定位器结构设计等措施以减小调姿内力,并提出一种消除调姿内力的方法,阐明它的应用特点.实验研究表明,基于定位器支撑的飞机大部件调姿过程中由内力引起的大部件附加变形较小,不会威胁到大部件安全.通过内力消除方法可以有效释放调姿内力,能够满足飞机数字化装配过程无应力装配的要求.

Posture alignment internal force in three-axis actuators based assembly system for large aircraft parts

A kind of posture alignment and joint system for large components of aircraft based on three actuators with 3 axis was studied, and its inverse kinematics as well as dynamic models were established. According to the principle of cooperating kinematics, the properties of redundant actuating were analyzed. Aims at the problem, which the location error of actuators would cause internal forces directly during the process of posture alignment, several methods of controlling the internal forces were presented, i.e. adopting the minimum norm solution of the joins actuating force and improving the structure of actuators. Finally, a kind of method of relieving internal forces was proposed and its characteristics in application were analyzed. The results of test show that the deformation produced by internal forces is less, which cannot threaten the safety of large aircraft parts. More important, the method of relieving internal forces can work efficiently in the process of assembly, and this will satisfy the need of non forces joint assembly well in digital system of aircraft assembly．