关键词: 飞机装配, 并联机构, 标定, 自动钻铆, 调姿托架, 调姿精度

Abstract: To enhance the motion accuracy of parallel posture adjusting bracket for aircraft automatic drilling and riveting,an improved external calibration method was proposed.The kinematics equations of mechanism were established by space vector chain and differentiated.Then the relationship between posture error and structure error was established and the modeling accuracy was improved by incorporating all the constrained equations into the error model.The method of matrix dimension reduction was applied to deal with the coefficient matrix of structural error,and the accuracy of error identification was also enhanced.The simulation results showed that the calibration method had higher accuracy of error identification and compensation compared to existing methods,and could identify the active moving pair angle error of the positioner driven by one motor with error model,which met the requirements of aircraft assembly for posture adjustment accuracy of the bracket.

Key words: aircraft assembly, parallel mechanism, calibration;automatic drilling and riveting, adjustment bracket, posture adjustment accuracy