High-Efficiency Posture Prealignment Method for Large Component Assembly via iGPS and Laser Ranging

Zeng, Qi; Huang, Xiang; Li, Shuanggao; Deng, Zhaohui

doi:10.1109/tim.2019.2958579

Cited by 21 publications

(8 citation statements)

References 32 publications

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“…By substituting the times for these two measurements into the theoretical trajectory equation for the moving target, the theoretical coordinates of the moving target at these two moments are then obtained, as shown in equations ( 16) and (17).…”

Section: Mathematical Model Of Correction Algorithm For Double Statio...mentioning

confidence: 99%

“…The algorithm was based on the measurement data obtained from the iGPS to measure the position of the AGV in real time and ensure that the AGV could return adaptively to its established track. The limitation of this algorithm is that the dynamic measurement data from the iGPS are considered to be correct in real time, and thus this algorithm can only be used to perform rough measurement and tracking of the AGV; 17 the approaches proposed by Schmitt et al 18 and Chen et al 19 have similar problems.…”

Section: Introductionmentioning

confidence: 99%

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Research on the Method of Improving iGPS Dynamic Tracking Accuracy Based on Theoretical Trajectory Backward Compensation

Han

Trostmann

Dunker

2023

Advances in Mechanical Engineering

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As a result of the ongoing upgrading of the manufacturing industries, higher and higher requirements are being proposed for assembly precision. In particular, in the industries that involve assembly of large-sized products, it is hoped that assembly accuracy can still be guaranteed as the product size increases. The emergence of the indoor Global Positioning System (iGPS) will enable this demand to be met. In this work, we have conducted in-depth research on the measurement principles and the dynamic measurement performance of the iGPS measurement system. In addition, based on the motion equation for the tracked target, an analytical method to calculate the compensation amount required for dynamic measurements is proposed. This method is suitable for accurate measurement of the actual trajectory of a target in real time when the theoretical trajectory of this tracked target is known. We set up a simulation environment in MATLAB and tested the proposed method. The simulation testing proved that the method can compensate effectively for errors in iGPS dynamic measurement.

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Section: Mathematical Model Of Correction Algorithm For Double Statio...mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Research on the Method of Improving iGPS Dynamic Tracking Accuracy Based on Theoretical Trajectory Backward Compensation

Han

Trostmann

Dunker

2023

Advances in Mechanical Engineering

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“…The main content of docking trajectory planning is how to move the LAC from the initial posture and position (IPP) to the target posture and position (TPP). The calculation accuracy of TPP directly determines the docking accuracy of the LAC (Zeng et al , 2020). At present, the TPP is mainly calculated based on the theoretical design model of the aircraft or the measured values of the measurement points (MPs).…”

Section: Introductionmentioning

confidence: 99%

Trajectory planning method for docking of large aircraft components

Chu

Huang

et al. 2023

RIA

Self Cite

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Purpose In the digital assembly system of large aircraft components (LAC), the docking trajectory of LAC is an important factor affecting the docking accuracy and stability of the LAC. The main content of docking trajectory planning is how to move the LAC from the initial posture and position to the target posture and position (TPP). This paper aims to propose a trajectory planning method of LAC based on measured data. Design/methodology/approach First, the posture and position error model of the wing is constructed according to the measured data of the measurement points (MPs) and the fork lug joints. Second, the particle swarm optimization algorithm based on the dynamic inertia factor is used to optimize the TPP of the wing. Third, to ensure the efficiency and stability of posture adjustment, the S-shaped curve is used as the motion trajectory of LAC, and the parameters of the trajectory are solved by the generalized multiplier method. Finally, a series of docking experiments are carried out. Findings During the process of posture adjustment, the motion of the numerical control locator (NCL) is stable, and the interaction force between the NCLs is always within a reasonable range. After the docking, the MPs are all within the tolerance range, and the coaxiality error of the fork lug hole is less than 0.2 mm. Originality/value In this paper, the measured data rather than the theoretical design model is used to solve the TPP, which improves the docking accuracy of LAC. Experiment results show that the proposed trajectory method can complete the LAC docking effectively and improve the docking accuracy.

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“…Furthermore, the design and manufacture of large numbers of special tooling increase the cost and cycle of aircraft development (Jayaweera and Webb, 2007;Zhang et al, 2009). With the rapid development of computer technology, digital measurement technology (Zeng et al, 2020;Deng et al, 2018) and automation technology (Peng et al, 2021), digital docking technology has been gradually applied to aircraft assembly (Jiang et al, 2019). In the digital docking system, the three-dimensional NCL is usually used as the actuator to adjust the position and posture of ALC (Liu et al, 2019).…”

Section: Introductionmentioning

confidence: 99%

A calibration method of redundant actuated parallel mechanism for posture adjustment

Chu

Huang

2021

Self Cite

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Purpose With the improvement of modern aircraft requirements for safety, long life and economy, higher quality aircraft assembly is needed. However, due to the manufacturing and assembly errors of the posture adjustment mechanism (PAM) used in the digital assembly of aircraft large component (ALC), the posture alignment accuracy of ALC is difficult to be guaranteed, and the posture adjustment stress is easy to be generated. Aiming at these problems, this paper aims to propose a calibration method of redundant actuated parallel mechanism (RAPM) for posture adjustment. Design/methodology/approach First, the kinematics model of the PAM is established, and the influence of the coupling relationship between the axes of the numerical control locators (NCL) is analyzed. Second, the calibration method based on force closed-loop feedback is used to calibrate each branch chain (BC) of the PAM, and the solution of kinematic parameters is optimized by Random Sample Consensus (RANSAC). Third, the uncertainty of kinematic calibration is analyzed by Monte Carlo method. Finally, a simulated posture adjustment system was built to calibrate the kinematics parameters of PAM, and the posture adjustment experiment was carried out according to the calibration results. Findings The experiment results show that the proposed calibration method can significantly improve the posture adjustment accuracy and greatly reduce the posture adjustment stress. Originality/value In this paper, a calibration method based on force feedback is proposed to avoid the deformation of NCL and bracket caused by redundant driving during the calibration process, and RANSAC method is used to reduce the influence of large random error on the calibration accuracy.

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High-Efficiency Posture Prealignment Method for Large Component Assembly via iGPS and Laser Ranging

Cited by 21 publications

References 32 publications

Research on the Method of Improving iGPS Dynamic Tracking Accuracy Based on Theoretical Trajectory Backward Compensation

Research on the Method of Improving iGPS Dynamic Tracking Accuracy Based on Theoretical Trajectory Backward Compensation

Trajectory planning method for docking of large aircraft components

A calibration method of redundant actuated parallel mechanism for posture adjustment

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