When the wall panels were flexibly assembled, drilled or rivetted, a typical 3-RPS parallel mechanism was used for self adjusting the position and orientation. And the end effector requested the aiguille working through the skin normal direction from the hole. For resolving the normal adjusting problem, the position and orientation modeling was firstly analyzed and described for the mobile platform of a 3-RPS parallel mechanism. And then the normal adjusting solution algorithm was brought forward. Finally, through an example the method is shown that it has the practical engineering application capability. And this normal adjusting algorithm can be extended to the further airplane digital manufacturing and assembly such as positioning and attitude regulation.

assembly, 3-RPS parallel mechanism, normal adjusting, mobile platform

在飞机壁板柔性装配和钻铆时,采用典型的3-RPS并联机构进行自动调姿,该机构的末端执行器要求钻铆头沿孔位处的蒙皮法向进给。为了解决该法向调整问题,先对3-RPS并联机构动平台位姿进行建模描述,再在此基础上提出法向调整的求解算法。结合实例说明了该算法完全具有实际工程应用能力,且该法向调整算法还可以推广应用于定位、调姿等飞机数字化制造及装配工作中。

装配, 3-RPS并联机构, 法向调整, 动平台