关键词: 中机身, 装配, 轨迹规划, 驱动力, 调姿机构

Abstract: A novel pose adjustment mechanism was presented for aircraft fuselage automatic joining assembles.The presented mechanism was composed of four dispersed positioners,in which the movable sliders and pillars of first and third positioners were driven independently and the movable sliders of second and forth positioners were servo.Positioners were connected with bracket by spherical hinges respectively.By using positioners,fuselage pose could be adjusted automatically.The presented mechanism not only had lager workspace and advantages of redundant actuations,but also could avoid deficiencies of overabundant actuations.Based on the dynamics equations of mechanism,mean square force was defined to confirm the adjusting time.According to fuselage pose adjustment characteristics,a polynomial trajectory planning method was presented for fuselage pose adjustment based on ideal drive force.Simulation results showed that the presented trajectory planning method was efficient and available.

Key words: fuselage, assembly, trajectory planning, drive force, pose adjustment mechanism