Development of a novel integrated automated assembly system for large volume components in outdoor environment

Peng, Gaoliang; Ji, Mengyu; Xue, Yanfeng; Sun, Yu

doi:10.1016/j.measurement.2020.108294

Cited by 10 publications

(6 citation statements)

References 20 publications

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“…Biological structures with linkage mechanism that mimic the legs and limbs of animals (figure 1(a)) offer high-efficiency vibration isolation and self-protection against external shocks and vibrations. They find extensive application in aerospace [20], medicine [21], and mechanical engineering [22], particularly in robotics [23]. The linkage mechanism can be utilized to create structural metamaterials with unique characteristics, controlled by the unit cell's geometry, facilitating alterations in motion modes and isolate vibration [24][25][26].…”

Section: Introductionmentioning

confidence: 99%

A novel frog-like meta-structure with linkage mechanism for low-frequency vibration isolation

Li,

Wang,

Chai

et al. 2024

J. Phys. D: Appl. Phys.

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Structures with linkage mechanism, which could be widely seen in engineering, usually need to bear a certain load and exhibit ideal vibration isolation performance. One of the key factors affecting the mechanical and vibration properties is the connection behavior of the linkage mechanism. To clarify its influence on the vibration characteristics, a novel frog-like meta-structure by introducing a linkage mechanism into the conventional locally resonant metamaterial with a mass-spring resonator is proposed in the present paper, in which the linkage connection is considered as three types of hinged, fixed and elastic, respectively. The equivalent dynamic model of the meta-structure is established theoretically to calculate the effective material properties, which is then validated numerically through band gap and vibration analysis. The results show that the hinged linkage offers equivalent mass and free vertical displacement, while the fixed linkage provides supporting stiffness, shifting the band gap towards higher frequencies. An appropriate elastic connection can enhance the “spring-vibrator” effect, which in turn can significantly expand the low-frequency vibration suppression range of the structure. Experiments are also conducted corresponding to the different linkage mechanisms, and the dynamic model is verified. This study could provide a new idea for promoting the application of the locally resonant meta-structure with a linkage mechanism in the field of low-frequency vibration isolation.

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Section: Introductionmentioning

confidence: 99%

A novel frog-like meta-structure with linkage mechanism for low-frequency vibration isolation

Li,

Wang,

Chai

et al. 2024

J. Phys. D: Appl. Phys.

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“…The traditional docking of LAC relies on a large number of special toolings and manual operations, which is labour-intensive, inefficient and difficult to improve the assembly accuracy, and the design and manufacture of a large number of special toolings increase the cost and cycle of aircraft manufacturing [3]. With the rapid development of digital measurement technology [4], automatic control technology [5] and sensor technology [6], automatic docking system has been gradually adopted in the assembly of LAC [7] [8]. In the automatic docking system, the position and posture of LAC are measured by digital measuring equipment (such as laser tracker), and the accurate positioning and posture adjustment of the LAC are realized by digital posture adjustment system.…”

Section: Introductionmentioning

confidence: 99%

Posture adjustment method of large aircraft components based on multiple numerical control positioners

Chu

et al. 2023

Int J Adv Manuf Technol

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In the digital assembly system of large aircraft components (LAC), multiple numerical control positioners (NCPs) are usually used as actuators to adjust the position and posture of LAC to realize the docking of LAC. The posture adjustment mechanism (PAM) composed of multiple NCPs is a redundant actuated parallel mechanism (RAPM). The traditional full position control (FPC) method may lead to interference between NCPs, resulting in the deformation of NCPs and bracket, affecting the service life of the equipment and the accuracy of posture adjustment. This paper proposes a posture adjustment method based on hybrid control, which divides the motion axes of the NCPs into the position control axis and the force control axis to avoid the internal force of posture adjustment caused by the cooperative motion error of the NCPs. The driving force of the axis of the RAPM under the same posture adjustment trajectory is uncertain. To further reduce the internal force of posture adjustment, a driving force distribution method based on the dynamic model of PAM is proposed. Then, the principle of selecting the position control axis of the PAM is analyzed, and the optimization strategy of the position control axis based on the condition number of the Jacobian matrix is studied to improve the motion performance of the PAM. Finally, the posture adjustment experiment of LAC is carried out. The results show that the hybrid control method based on the optimum contact force can significantly reduce the interaction force between NCPs, and can effectively avoid the deformation of NCPs and brackets. The experimental results of posture adjustment accuracy verification show that the optimization strategy of position control axis makes the accuracy of single posture adjustment meet the requirements of LAC docking, which can effectively improve the docking efficiency of LAC.

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“…With the development of digital measurement technology, computer-aided design technology (Şengül and Kam, 2019), information technology, automation technology (Peng et al , 2021) and sensor technology, automatic assembly technology has been gradually applied to the assembly of large components (Eastwood et al , 2003). In the automatic assembly system of large components, the position and posture of the large components are detected by digital measuring equipment (Tang, et al , 2013).…”

Section: Introductionmentioning

confidence: 99%

An active compliant docking method for large gear components based on distributed force sensor

Chu

Huang

2022

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Purpose Large gear components widely exist in the transmission system of helicopters, ships, etc. Due to the small assembly clearance of large gear components, using an automatic docking system based on position control will lead to forced assembly. The purpose of this paper is to reduce the assembly stress of large gear components by an active compliant docking technology based on distributed force sensors. Design/methodology/approach Firstly, aiming at the noise interference in three-dimensional force sensor (TDFS), Kalman filter and Savitzky–Golay filter are used to process the sensor’s output signal. Secondly, the active compliant docking control model is constructed according to the principle of impedance control. Thirdly, the contact force is calculated based on the Euler equation, and the impedance control parameters are tuned by the particle swarm optimization algorithm. Finally, an active compliant docking system of a large gear structure based on distributed force sensor is built in the laboratory to verify the proposed method. Findings The experimental results show that the contact force and contact torque gradually decrease in all directions and are always in the safe range during the docking process. The feasibility of this method in practical application is preliminarily demonstrated. Originality/value The distributed TDFSs are used to replace the traditional six-dimensional force sensor in the active compliant docking system of gear components, which solves the problem of the small bearing capacity of the conventional active compliant docking system. This method can also be used for the docking of other large components.

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Development of a novel integrated automated assembly system for large volume components in outdoor environment

Cited by 10 publications

References 20 publications

A novel frog-like meta-structure with linkage mechanism for low-frequency vibration isolation

A novel frog-like meta-structure with linkage mechanism for low-frequency vibration isolation

Posture adjustment method of large aircraft components based on multiple numerical control positioners

An active compliant docking method for large gear components based on distributed force sensor

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