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

摘要： 为实现飞机中机身的自动对接装配,提出一种新型的冗余驱动中机身自动调姿机构。该机构由4个离散的定位器组成,定位器1和定位器3的底层滑块、中间层滑块、伸缩柱都有独立的驱动;定位器2和定位器4只有伸缩柱有独立的驱动,其他方向均为随动。定位器通过球铰式工艺接头与托架相连,托架通过勾头螺栓与中机身保持固连。联动控制所有定位器,实现中机身位姿的自动调整。该调姿机构工作空间大、调姿部件大,既具有冗余驱动的优点,又避免了冗余驱动数过多导致控制系统复杂的不足。针对中机身调姿的特点,提出基于理想驱动力的中机身多项式轨迹规划方法。仿真实验结果表明,该轨迹规划方法高效、可行。

关键词: 中机身, 装配, 轨迹规划, 驱动力, 调姿机构