Abstract: Aiming at the deformation caused by the dead weight of drilling and riveting bracket and decreasing the positioning accuracy during aircraft assembly,a method for deformation analysis and positioning error compensation in multi-pose space was proposed.The integral method was used to analyze the deformation of the drilling and riveting bracket.Combined with the weighted overall least squares method and finite element analysis,the deformation error curve was fit.Then the corresponding deformation model was established.The calculation error of the model was analyzed by MATLAB and ABAQUS simulation.Considering the influence of structural deformation,the positioning error compensation experiment was carried out.The simulation results showed that the deformation model error was in the order of 10-3 mm.The experiment results showed that the proposed algorithm was more efficient than the existing methods.The maximum position and posture error were reduced by 67.52% and 17.78% respectively.Simulation and experiments verified the feasibility and effectiveness of the proposed algorithm,which also met the positioning accuracy requirements in the field of agricultural aviation assembly.This method was also suitable for the deformation analytics and positioning error compensation of other large-scale drilling and riveting bracket.

Key words: parallel mechanism, drilling and riveting bracket, deformation analytics, multi-pose space, agricultural aviation

摘要： 针对钻铆托架自重引起的变形降低飞机装配时的定位精度问题,提出一种空间多姿态下的钻铆托架变形解析与定位误差补偿方法。该方法采用积分法解析了钻铆托架在空间不同位姿下的变形量;在有限元分析的基础上,结合加权整体最小二乘法拟合变形误差曲线,建立了相应的变形量模型;使用MATLAB与ABAQUS仿真分析了模型计算误差;考虑结构变形的影响,进行定位误差补偿试验。仿真结果表明,变形量模型误差处于10-3mm数量级;试验结果表明,所提算法的定位精度与计算效率优于已有方法,位置误差最大值降低67.52%、姿态误差最大值降低17.78%。仿真与试验验证了该方法的可行性与有效性,表明该方法能够满足农业航空装配领域的定位精度要求,同时也适用于农业航空装配领域其他大型钻铆托架的定位精度提升。

关键词: 并联机构, 钻铆托架, 变形解析, 多姿态空间, 农业航空