Geometry Calibrations for the Double-position 4-PPPS Aircraft Fuselage Docking System

doi:10.3901/JME.2021.07.033

Abstract

Abstract: A double work positions 4-PPPS parallel mechanism is used for the aircraft fuselage assembly process to improve the docking efficiency and reduce the labor intensity. However, the accuracy is hard to guarantee for the mechanism is large, redundant and has manufacturing and assembly errors. To improve the accuracy of the 4-PPPS parallel aircraft fuselage docking system, firstly an averaging iteration method is proposed to calibration the datum points in the airplane coordinate which are the references of the entire docking system. And secondly, a kinematic calibration method based on the derivative of the spatial pose transformation is proposed to calibrate up to 42 kinematic parameters. By these two methods, the final maximum position error reduces from 2.2mm to 0.035mm and the maximum pointing error reduced from 0.08º to 0.018º. The accuracy measurement and docking experiment prove the efficiency of the proposed methods.

Key words: aircraft docking, redundant parallel mechanism, kinematic calibration, total error equation

CLC Number:

TP24

QI Ruolong, ZHANG Ke, ZHAO Jibin, MU Ruyi, XING Yunlong. Geometry Calibrations for the Double-position 4-PPPS Aircraft Fuselage Docking System[J]. Journal of Mechanical Engineering, 2021, 57(7): 33-43.

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