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针对飞机装配中机身壁板等组件调姿定位问题,本文首先提出了一种基于3-UPS并联构型的飞机装配调姿定位机构,该机构可以实现飞机组件装配的6自由度调姿与定位。同时,为提高飞机组件装配精度,分析了各运动副铰链间的误差间隙对飞机装配调姿定位机构姿态的影响,并据此建立了3-UPS并联机构的有效杆长模型。进一步地,基于并联机构位置正解得到了飞机装配调姿定位机构的定位精度模型。最后,通过MATLAB仿真分析了间隙的存在对机构运动精度的影响,为基于3-UPS并联机构在调姿定位中的控制补偿提供了理论基础。
In order to solve the problem of positioning of fuselage panels and other components in aircraft assembly, this dissertation first proposes a positioning and positioning mechanism for aircraft assembly based on the 3-UPS parallel configuration. This mechanism can realize 6 degrees of freedom attitude adjustment Positioning. At the same time, in order to improve the assembly accuracy of the aircraft components, the influence of the error gap between the hinges of the various sports pairs on the attitude of the aircraft assembly position-adjusting positioning mechanism was analyzed. Based on this, the effective rod length model of 3-UPS parallel mechanism was established. Further, based on the positive solution of the position of the parallel mechanism, the positioning accuracy model of the aircraft assembly attitude adjustment mechanism is obtained. Finally, the influence of gap on the motion accuracy is analyzed by MATLAB simulation, which provides a theoretical basis for the control compensation of 3-UPS parallel mechanism in attitude adjustment.