Trajectory Planning Algorithm Based on Quaternion for 6-DOF Aircraft Wing Automatic Position and Pose Adjustment Method

Zhu, YongGuo; Huang, Xiang; Fang, Wei; Li, Shuanggao

doi:10.1016/s1000-9361(09)60273-9

Cited by 26 publications

(9 citation statements)

References 3 publications

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“…e R q e R q e R q e (24) Where, x e , y e and z e are the unit direction vectors of the WCS. Let represent the posture and position variation vector of the LAC.…”

Section: Posture Adjustment Methods Based On Hybrid Control 41 Analys...mentioning

confidence: 99%

“…According to the basic principles of mechanism, if the number of the largest linear independent groups of the Jacobian matrix of the spatial parallel mechanisms is less than the number of position control axes, there will be interference between the position control axes, and the selection of position control axes is unreasonable. According to equation (24), the Jacobian vectors corresponding to the X\Y\Z axis of NCPi are…”

Section: Selection Principle Of Position Control Axismentioning

confidence: 99%

“…The larger internal force of posture adjustment will deform and even damage the bracket and the NCPs. Therefore, Zhu et al proposed to cancel the external drive of some axes of the NCP and take them as the follower axes to avoid the internal force of posture adjustment [24]. However, this posture adjustment control method will make the PAM an ordinary parallel mechanism and reduce the stiffness of the PAM.…”

Section: Introductionmentioning

confidence: 99%

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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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“…e R q e R q e R q e (24) Where, x e , y e and z e are the unit direction vectors of the WCS. Let represent the posture and position variation vector of the LAC.…”

Section: Posture Adjustment Methods Based On Hybrid Control 41 Analys...mentioning

confidence: 99%

Section: Selection Principle Of Position Control Axismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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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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“…The second type of digital metrology method is feature point based, which merely probe single or several feature points to obtain their coordinates by some digital probe instruments, for example, the laser tracker. Typically, the laser tracker has been massively used for dimensional inspection in large-scale manufacturing industries for its digitalization, height precision and portability (Wang et al, 2016;Tian et al, 2013;Yongguo et al, 2010;Lei and Zheng, 2017). Qiu et al successfully applied laser tracker for metrology and alignment in an aircraft assembly line so as to improve the quality and facilitate automation (Baogui et al, 2011).…”

Section: The Progress Of the Digital Measurement Applicationmentioning

confidence: 99%

An MBD based framework for relative position accuracy measurement in digital assembly of large-scale component

Duan

Shen

2019

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Purpose This paper aims to promote the integration of the relative position accuracy (RPA) measurement and evaluation in digital assembly process by adopting the model-based method. An integrated framework for RPA measurement is proposed based on a model-based definition (MBD) data set. The study also aims to promote the efficiency of inspection planning of RPA measurement by improving the reusability and configurability of the inspection planning. Design/methodology/approach The works have been carried out on three layers. In the data layer, an extended MBD data set is constructed to describe the objects and data for defining RPA measurement items; In definition layer, a model based and hierarchical structure for RPA item definition is constructed to support quick definition for RPA measurement items. In function layer, a toolset consisting three modules is constructed in a sequence from measurement planning to RPA value solving to visualized displaying again. Based on this framework, a prototype system is developed. Findings The paper provides an identified practice of model-based inspection. It suggests that MBD is valuable in promoting both the integration and efficiency of digital inspection. Research limitations/implications The templates and constructed geometry objects given in this paper are still limited in a scenario of aircraft assembly. The integrity and universality of them still need follow-up works. Practical implications The paper includes implications for the model based digital inspection, the digital assembly and the extended application of MBD. Originality/value This paper expands the application of MBD in inspection and fulfils the need to promote the integration and efficiency of digital inspection in large-scale component assembly.

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“…To track the path and limit the vibration of the robot, Piazzi and Visioli (1997) used the minimum impact trajectory and the cubic spline curve to ensure the continuity of velocity and acceleration. However, most of the above studies are focused on light-load series mechanisms (Guarino and Piazzi, 1999), such as industrial manipulators, and there is less research on trajectory planning of heavy-load parallel mechanisms such as the posture adjustment mechanism (PAM) of LAC (Zhu et al , 2010). In view of the above problems, this paper first constructs the posture and position error model of the wing based on the measured data and uses the PSO algorithm with a dynamic inertia factor to optimize the TPP.…”

Section: Introductionmentioning

confidence: 99%

Trajectory planning method for docking of large aircraft components

Chu

Huang

et al. 2023

RIA

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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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Trajectory Planning Algorithm Based on Quaternion for 6-DOF Aircraft Wing Automatic Position and Pose Adjustment Method

Cited by 26 publications

References 3 publications

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

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

An MBD based framework for relative position accuracy measurement in digital assembly of large-scale component

Trajectory planning method for docking of large aircraft components

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