CN100565406C - A kind of aircraft part pose Adjustment System and method based on four locater - Google Patents

Abstract

The invention discloses a kind of aircraft part pose Adjustment System and method based on four locater.Location regulating system comprises four three-coordinate positioners, spherical process connection, aircraft components to be adjusted, laser tracker and target reflection sphere, three-coordinate positioner comprises base plate, and from down and on the X that is provided with successively to motion, Y to motion, Z to motion, displacement transducer.The step of pose method of adjustment is: 1) set up global coordinate system OXYZ, calculate the current pose and the object pose of aircraft components to be adjusted; 2) cook up the path of aircraft components to be adjusted from current pose to object pose; 3) generate each track of steady arm according to this path to motion; 4) three steady arm coordinated movements of various economic factors realize the pose adjustment.The invention has the advantages that: 1) can realize support aircraft components to be adjusted; 2) can realize the automatic adjustment of aircraft components to be adjusted position and attitude; 3) can realize the crawl adjustment of aircraft components to be adjusted position and attitude.

Description

A kind of aircraft part pose Adjustment System and method based on four locater

Technical field

The present invention relates to a kind of aircraft part pose Adjustment System and method based on four locater.

Background technology

Make the field in Aero-Space,, need adjust the pose of large-scale rigid body parts such as airframe for realizing the butt joint assembling of parts.The airframe parts are operands of a kind of uniqueness, and its volume, quality are big, and pose is adjusted the accuracy requirement height, and do not allow to adjust frock fuselage surface or internals are caused damage.The serial machine people of widespread use at present is applicable to that mainly volume, quality are less, the less demanding occasion of system stiffness.Parallel institution commonly used just is applied to emulation of simulated flight device or parallel machine and makes the field, and the volume of its moving platform, quality can't be compared with body parts, and system stiffness and bearing accuracy all can not satisfy the adjustment requirement of airframe parts.

In traditional aircraft assembling process based on the type frame, generally adopt a plurality of lifting jack to hold up fuselage, the mode of artificial auxiliary positioning realizes the pose adjustment of parts.This mode exists the problems such as precision is low, erection stress is big of adjusting.The posture adjustment frock is to realize the key equipment of aircraft digitizing assembling, also is the topworks that steering order is converted into actual motion.A principal character of external digitizing mounting technology is exactly to use the automatic attitude-adjusting frock more and more in the general assembly stage of aircraft, based on industrial field bus, make up multiaxis Synchronous motion control network, realize the coordinated movement of various economic factors of multimachine tool device, accurately realize big part pose adjustment and butt joint reposefully.Therefore, little for guaranteeing the component stress distortion, frock is easy to adjust, adjustment precision height, at aircraft front fuselage with flat or sub-elliptical type, the rear fuselage, wing, parts such as vertical fin, document " JoinCell for the G150 Aircraft " (Samuel O.Smith, Dr.Peter B.Zieve and MichaelGurievsky, 2006 SAE International, 2006.1.31) in the assembling of Gulfstream G150 type aircraft, provide a plurality of removable lifting jack support machine figures of a kind of employing, realized the pose adjustment and the butt joint of airframe parts.Every section fuselage adopts 4-6 removable lifting jack to support, and by robotization control, realizes that the frame sections pose is adjusted and butt joint.Aircraft digitizing rigging equipment manufacturers such as Germany Bao Jie company, Spain SERRA company and M.Torris company have also proposed various three-dimensional supporting mechanisms respectively, are used to realize the pose adjustment and the butt joint assembling of the big parts of aircraft.Document " body section centering docking system---the realization of a multi-robot coordination operating system " (Jing Fengshui, Tan Min, wait augmentation, Wang Yunkuan. the robotization journal, 2002,28 (5): 708-714) propose to adopt many robot coordinated actions of Three Degree Of Freedom, realize body section pose centering and butt joint.

Summary of the invention

The objective of the invention is to overcome the deficiencies in the prior art, a kind of aircraft part pose Adjustment System and method based on four locater is provided.

Aircraft part pose Adjustment System based on four locater comprises 4 three-coordinate positioners, spherical process connection, laser tracker, aircraft components to be adjusted, the target reflection sphere, by 4 three-coordinate positioners by spherical process connection supports aircraft components to be adjusted, at aircraft components to be adjusted the target reflection sphere is installed, adopt laser tracker to follow the tracks of the locus of target reflection sphere, three-coordinate positioner comprises base plate, X is to motion, Y is to motion, Z is to motion, displacement transducer, on the base plate from down and on be provided with X successively to motion, Y is to motion, Z is to motion, be provided with the circular conical surface chamber of matching with spherical process connection at Z to the motion upper end, circular conical surface is equipped with displacement transducer in the chamber;

Described aircraft components to be adjusted is the frame girder construction, and spherical process connection is installed on the frame beam of aircraft components to be adjusted, and the center of gravity of aircraft components to be adjusted is positioned at the quadrilateral that four locater is formed.

Aircraft part pose method of adjustment based on four locater may further comprise the steps:

1) aircraft components to be adjusted is placed on 4 three-coordinate positioners by spherical process connection,

2) send instruction to laser tracker, make it set up global coordinate system OXYZ in the working site, and on aircraft components to be adjusted fixed local coordinate system O ' X ' Y ' Z ';

3) adopt the coordinate of local coordinate system initial point O ' under global coordinate system OXYZ to express the position of aircraft components to be adjusted, adopt upset, pitching, inclination to express the attitude of aircraft components to be adjusted;

4) under global coordinate system, calculate the current pose and the object pose of aircraft components to be adjusted;

5) cook up the path of aircraft components to be adjusted from current pose to object pose;

6) generate each track of steady arm according to this path to motion;

7) according to each track to motion of steady arm, the four locater coordinated movement of various economic factors realizes the pose adjustment;

8) displacement transducer of each steady arm of on-line monitoring, each compensates to the position of motion to steady arm according to the displacement transducer reading.

Describedly send instruction, make it set up global coordinate system OXYZ in the working site to laser tracker, and on aircraft components to be adjusted fixed local coordinate system O ' X ' Y ' Z ' step:

1) 6～8 target reflection spheres is installed on the ground of working site, wherein 3～4 is one group, specify the X-direction of global coordinate system, other 3～4 is one group, specify the Y direction of global coordinate system, the centre of sphere of a selected target reflection sphere is set up global coordinate system OXYZ as true origin according to right hand rule;

2) 3～10 target reflection spheres are installed on aircraft components to be adjusted, the centre of sphere of target reflection sphere is not on same straight line, the coordinate of the centre of sphere of measurement target drone reflection sphere under global coordinate system OXYZ, with the comparison that designs a model of aircraft components to be adjusted, set up local coordinate system O ' X ' Y ' Z ' according to comparison result.

Described current pose and the object pose step that under global coordinate system, calculates aircraft components to be adjusted:

1) calculate current or object pose under, the coordinate of aircraft components local coordinate system initial point O ' to be adjusted under global coordinate system OXYZ expressed the current of aircraft components to be adjusted or target location P=[P _x, P _y, P _z] ^T

2) make the state of three coordinate axis from overlapping of aircraft components local coordinate system to be adjusted with each coordinate axis of global coordinate system, arrive current or targeted attitude around global coordinate system X, Y, the rotation of Z axle a, b, c radian successively, and express the current of aircraft components to be adjusted or targeted attitude RPY=[a with this angle sequence, b, c] ^T

3) comprehensive current or target location, current or targeted attitude write out the current pose or the object pose L=[P of aircraft components to be adjusted _x, P _y, P _z, a, b, c] ^T

The described path step of aircraft components to be adjusted of cooking up: the path is treated to a translation and once rotation, arrives object pose from current pose from current pose to object pose;

Described each track step that generates steady arm according to this path to motion:

1), adopt time-based 3～5 order polynomial rules to draw position adjustment amount, so that each of steady arm obtains dynamics preferably to motion for the path for translation of aircraft components to be adjusted;

2), adopt time-based 3～5 order polynomial rules to draw the angular setting amount, so that each of steady arm obtains dynamics preferably to motion for the rotate path of aircraft components to be adjusted.

The displacement transducer of described each steady arm of on-line monitoring, each compensates step to the position of motion to steady arm according to the displacement transducer reading:

1) when certain steady arm displacement transducer reading be-0.05～-during 0.1mm, the interruption pose is adjusted, the request laser tracker detects the coordinate of each target reflection sphere 9 centre of sphere on the aircraft components to be adjusted again, with the comparison that designs a model of aircraft components to be adjusted, calculate the coordinate of the centre of sphere under global coordinate system of spherical process connection according to comparison result;

2) each steady arm each all determine in the position under the global coordinate system to motion any time, corresponding with the coordinate of the centre of sphere of spherical process connection, when the reading of steady arm displacement transducer-0.05～-during 0.1mm, each of this steady arm has error to the position of motion and the sphere centre coordinate of spherical process connection, after calculating the margin of error, each compensates to the position of motion to this steady arm, make the displacement transducer reading of this steady arm 0～-the 0.05mm interval in.

The invention has the advantages that: 1) can realize support aircraft components to be adjusted; 2) can realize the automatic adjustment of aircraft components to be adjusted position and attitude; 3) can realize the crawl adjustment of aircraft components to be adjusted position and attitude.

Description of drawings

Accompanying drawing is a kind of aircraft part pose Adjustment System structural representation based on four locater;

Among the figure: base plate 1, X to motion 2, Y to motion 3, Z to motion 4, displacement transducer 5, spherical process connection 6, laser tracker 7, aircraft components to be adjusted 8, target reflection sphere 9.

Embodiment

As shown in drawings, aircraft part pose Adjustment System based on four locater comprises four three-coordinate positioners, spherical process connection 6, laser tracker 7, aircraft components 8 to be adjusted, target reflection sphere 9, support aircraft components 8 to be adjusted by 4 three-coordinate positioners by spherical process connection 6, at aircraft components 8 to be adjusted target reflection sphere 9 is installed, the locus of adopting laser tracker 7 to follow the tracks of target reflection sphere 9, three-coordinate positioner comprises base plate 1, X is to motion 2, Y is to motion 3, Z is to motion 4, displacement transducer 5, on the base plate 1 from down and on be provided with X successively to motion 2, Y is to motion 3, Z is to motion 4, be provided with the circular conical surface chamber of matching at Z to motion 4 upper ends, displacement transducer 5 is housed in the circular conical surface chamber with spherical process connection 6;

Described aircraft components to be adjusted 8 is the frame girder construction, and spherical process connection 6 is installed on the frame beam of aircraft components 8 to be adjusted, and the center of gravity of aircraft components 8 to be adjusted is positioned at the quadrilateral that four locater is formed.

Aircraft part pose method of adjustment based on four locater may further comprise the steps:

1) aircraft components 8 to be adjusted is placed on 4 three-coordinate positioners by spherical process connection 6,

2) send instruction to laser tracker 7, make it set up global coordinate system OXYZ in the working site, and on aircraft components 8 to be adjusted fixed local coordinate system O ' X ' Y ' Z ';

3) adopt the coordinate of local coordinate system initial point O ' under global coordinate system OXYZ to express the position of aircraft components 8 to be adjusted, adopt upset, pitching, inclination to express the attitude of aircraft components 8 to be adjusted;

4) under global coordinate system, calculate the current pose and the object pose of aircraft components 8 to be adjusted;

5) cook up the path of aircraft components 8 to be adjusted from current pose to object pose;

6) generate each track of steady arm according to this path to motion;

7) according to each track to motion of steady arm, the four locater coordinated movement of various economic factors realizes the pose adjustment;

8) displacement transducer 5 of each steady arm of on-line monitoring, each compensates to the position of motion to steady arm according to displacement transducer 5 readings.

Describedly send instruction, make it set up global coordinate system OXYZ in the working site to laser tracker 7, and on aircraft components 8 to be adjusted fixed local coordinate system O ' X ' Y ' Z ' step:

1) 6～8 target reflection spheres 9 is installed on the ground of working site, wherein 3～4 is one group, specify the X-direction of global coordinate system, other 3～4 is one group, specify the Y direction of global coordinate system, the centre of sphere of a selected target reflection sphere is set up global coordinate system OXYZ as true origin according to right hand rule;

2) 3～10 target reflection spheres 9 are installed on aircraft components 8 to be adjusted, the centre of sphere of target reflection sphere is not on same straight line, the coordinate of the centre of sphere of measurement target drone reflection sphere under global coordinate system OXYZ, with the comparison that designs a model of aircraft components 8 to be adjusted, set up local coordinate system O ' X ' Y ' Z ' according to comparison result.

Described current pose and the object pose step that under global coordinate system, calculates aircraft components 8 to be adjusted:

1) calculate current or object pose under, the coordinate of aircraft components 8 local coordinate system initial point O ' to be adjusted under global coordinate system OXYZ expressed the current of aircraft components 8 to be adjusted or target location P=[P _x, P _y, P _z] ^T

2) make the state of three coordinate axis from overlapping of aircraft components 8 local coordinate systems to be adjusted with each coordinate axis of global coordinate system, arrive current or targeted attitude around global coordinate system X, Y, the rotation of Z axle a, b, c radian successively, and express the current of aircraft components 8 to be adjusted or targeted attitude RPY=[a with this angle sequence, b, c] ^T

3) comprehensive current or target location, current or targeted attitude write out the current pose or the object pose L=[P of aircraft components 8 to be adjusted _x, P _y, P _z, a, b, c] ^T

The described path step of aircraft components 8 to be adjusted of cooking up: the path is treated to a translation and once rotation, arrives object pose from current pose from current pose to object pose:

If the current pose of aircraft components 8 to be adjusted is:

L ₀＝[x ₀，y ₀，z ₀，a ₀，b ₀，c ₀] ^T

The object pose of aircraft components 8 to be adjusted is:

L _f＝[x _f，y _f，z _f，a _f，b _f，c _f] ^T

The translation adjustment amount of aircraft components 8 then to be adjusted is:

P＝[P _x?P _y?P _z] ^T＝[x _f，y _f，z _f] ^T-[x ₀，y ₀，z ₀] ^T

The attitude adjustment amount of aircraft components 8 to be adjusted is:

RPY＝[abc] ^T＝[a _f，b _f，c _f] ^T-[a ₀，b ₀，c ₀] ^T

Calculate attitude adjustment amount w with equivalent angular displacement vector expression according to the RPY angle again, computation process is as follows:

At first calculate the attitude adjustment matrix R of aircraft components 8 to be adjusted according to the RPY angle, computing formula is:

$R=\left[\begin{array}{ccc}\cos c\cos b& -\sin c\cos a+\cos c\sin b\sin a& \sin c\sin a+\cos c\sin b\cos a\\ \sin c\cos b& \cos c\cos a+\sin c\sin b\sin a& -\cos c\sin a+\sin c\sin b\cos a\\ -\sin b& \cos b\sin a& \cos b\cos a\end{array}\right]---\left(1\right)$

Wherein R is 3 * 3 posture changing matrix:

$R=\left[\begin{array}{ccc}{r}_{11}& r_{12}& r_{13}\\ r_{21}& r_{22}& r_{23}\\ r_{31}& r_{32}& r_{33}\end{array}\right]---\left(2\right)$

Calculate equivalent angular displacement w=d θ=θ [d according to R again ₁d ₂d ₃] ^T, wherein d is equivalent rotating shaft, and θ is equivalent corner, and computing formula is:

$R=\left[\begin{array}{ccc}{d}_1^2(1-\cos \mathrm{\θ})+\cos \mathrm{\θ}& d_1{d}_2(1-\cos \mathrm{\θ})-d_3\sin \mathrm{\θ}& d_1{d}_3(1-\cos \mathrm{\θ})+d_2\sin \mathrm{\θ}\\ d_1{d}_2(1-\cos \mathrm{\θ})+d_3\sin \mathrm{\θ}& d_2^2(1-\cos \mathrm{\θ})+\cos \mathrm{\θ}& d_2{d}_3(1-\cos \mathrm{\θ})-d_1\sin \mathrm{\θ}\\ d_1{d}_3(1-\cos \mathrm{\θ})-d_2\sin \mathrm{\θ}& d_2{d}_3(1-\cos \mathrm{\θ})+d_1\sin \mathrm{\θ}& d_3^2(1-\cos \mathrm{\θ})+\cos \mathrm{\θ}\end{array}\right]---\left(3\right)$

According to formula, can solve:

$\mathrm{\θ}=\arccos \left(\frac{r_{11}+r_{22}+r_{33}}{2}\right),$ $\left[\begin{array}{c}{d}_1\\ d_2\\ d_3\end{array}\right]=\frac{1}{2\sin \mathrm{\θ}}\left[\begin{array}{c}{r}_{32}-r_{23}\\ r_{13}-r_{31}\\ r_{21}-r_{12}\end{array}\right]---\left(4\right)$

Make aircraft components 8 to be adjusted finish translation adjustment amount P and attitude adjustment amount w, can arrive object pose from current pose.

Described each track step that generates steady arm according to this path to motion:

For position adjustment amount P, be located at time T ₁In finish, then:

P ₀＝0，P _T1＝P；v ₀＝0，v _T1＝0；a ₀＝0，a _T1＝0

Wherein P, v, a are respectively displacement, speed and acceleration, P ₀, P _T1Be respectively 0 moment and T ₁Displacement constantly, v ₀, v _T1, a ₀, a _T1Has similar implication.

If the curve representation formula is adjusted in the position: P (t)=k ₀+ k ₁T+k ₂t ²+ k ₃t ³+ k ₄t ⁴+ k ₅t ⁵, then polynomial coefficient satisfies 6 constraint conditions:

$\left.\begin{array}{c}{P}_0=k_0\\ P_{T1}=k_0+k_1{T}_1+k_2{T}_1^2+k_3{T}_1^3+k_4{T}_1^4+k_5{T}_1^5\\ {\stackrel{\·}{P}}_0=k_1\\ {\stackrel{\·}{P}}_f=k_1+{2k}_2{T}_1+3k_3{T}_1+{4k}_4{T}_1+{5k}_5{T}_1\\ {\stackrel{\·\·}{P}}_0={2k}_2\\ {\stackrel{\·\·}{P}}_f={2k}_2+{6k}_3{T}_1+{12k}_4{T}_1^2+{20k}_5{T}_1^3\end{array}\right\}---\left(5\right)$

Formula contains 6 unknown numbers, 6 equations, its separate into:

$\left.\begin{array}{c}{k}_0=P_0\\ k_1={\stackrel{\&CenterDot;}{P}}_0\\ k_2={\stackrel{\&CenterDot;\&CenterDot;}{P}}_0/2\\ k_3=\frac{{20P}_{T1}-{20P}_0-(8{\stackrel{\&CenterDot;}{P}}_{T1}+12{\stackrel{\&CenterDot;}{P}}_0)T_1-(3{\stackrel{\&CenterDot;\&CenterDot;}{P}}_0-{\stackrel{\&CenterDot;\&CenterDot;}{P}}_{T1})T_1^2}{{2T}_1^3}\\ {\mathrm{<figure-callout\; id="4"\; label="k"\; filenames="C2008101616680013H1.png"\; state="\{\{state\}\}">k</figure-callout>}}_4=\frac{{30P}_{T1}-{30P}_0+(14{\stackrel{\&CenterDot;}{P}}_{T1}+16{\stackrel{\&CenterDot;}{P}}_0)T_1+(3{\stackrel{\&CenterDot;\&CenterDot;}{P}}_0-2{\stackrel{\&CenterDot;\&CenterDot;}{P}}_{T1})T_1^2}{{2T}_1^3}\\ k_5=\frac{{12P}_{T1}-{12P}_0-(6{\stackrel{\&CenterDot;}{P}}_{T1}+6{\stackrel{\&CenterDot;}{P}}_0)T_1-({\stackrel{\&CenterDot;\&CenterDot;}{P}}_0-{\stackrel{\&CenterDot;\&CenterDot;}{P}}_{T1})T_1^2}{{2T}_1^3}\end{array}\right\}---\left(6\right)$

According to formula, can solve every coefficient of curve P (t), this curve has speed, the acceleration of smooth change.Time T ₁Be with reference to the accompanying drawings shown in the physical characteristics of location regulating system determine that in this time, maximal rate that steady arm 1 reaches and acceleration can not surpass the maximal value that system allows.

For angular setting amount θ, be located at time T ₂In finish, then:

θ ₀＝0，θ _T2＝θ；

ω ₀＝0，ω _T2＝0；γ ₀＝0，γ _T2＝0

Wherein θ, ω, γ are respectively angular displacement, angular velocity and angular acceleration, θ ₀, θ _T2Be respectively 0 moment and T ₂Angular displacement constantly, ω ₀, ω _T2, γ ₀, γ _T2Has similar implication.If angular setting curve representation formula is: θ (t)=l ₀+ l ₁T+l ₂t ²+ l ₃t ³+ l ₄t ⁴+ l ₅t ⁵, according to these known conditions, can solve:

$\left.\begin{array}{c}{l}_0={\mathrm{\&theta;}}_0\\ l_1={\stackrel{\&CenterDot;}{\mathrm{\&theta;}}}_0\\ l_2={\stackrel{\&CenterDot;\&CenterDot;}{\mathrm{\&theta;}}}_0/2\\ l_3=\frac{{20\mathrm{\&theta;}}_{T2}-{20\mathrm{\&theta;}}_0-(8{\stackrel{\&CenterDot;}{\mathrm{\&theta;}}}_{T2}+{12\stackrel{\&CenterDot;}{\mathrm{\&theta;}}}_0)T_2-(3{\stackrel{\&CenterDot;\&CenterDot;}{\mathrm{\&theta;}}}_0-{\stackrel{\&CenterDot;\&CenterDot;}{\mathrm{\&theta;}}}_{T2})T_2^2}{{2T}_2^3}\\ {\mathrm{<figure-callout\; id="4"\; label="l"\; filenames="C2008101616680013H1.png"\; state="\{\{state\}\}">l</figure-callout>}}_4=\frac{{30\mathrm{\&theta;}}_{T2}-{30\mathrm{\&theta;}}_0+(14{\stackrel{\&CenterDot;}{\mathrm{\&theta;}}}_{T2}+16{\stackrel{\&CenterDot;}{\mathrm{\&theta;}}}_0)T_2+(3{\stackrel{\&CenterDot;\&CenterDot;}{\mathrm{\&theta;}}}_0-2{\stackrel{\&CenterDot;\&CenterDot;}{\mathrm{\&theta;}}}_{T2})T_2^2}{{2T}_2^3}\\ l_5=\frac{{12\mathrm{\&theta;}}_{T2}-{12\mathrm{\&theta;}}_0-(6{\stackrel{\&CenterDot;}{\mathrm{\&theta;}}}_{T2}+6{\stackrel{\&CenterDot;}{\mathrm{\&theta;}}}_0)T_2-({\stackrel{\&CenterDot;\&CenterDot;}{\mathrm{\&theta;}}}_0-{\stackrel{\&CenterDot;\&CenterDot;}{\mathrm{\&theta;}}}_{T2})T_2^2}{{2T}_2^3}\end{array}\right\}---\left(7\right)$

According to formula, can solve every coefficient of curve θ (t), this curve has angular velocity, the angular acceleration of smooth change.Time T ₂Also be with reference to the accompanying drawings shown in the physical characteristics of location regulating system determine that in this time, maximal rate that steady arm 1 can reach and acceleration can not surpass the maximal value that system allows.

According to formula:

w(t)＝dθ(t) (8)

Solve angular displacement curve w (t), w (t) substitution formula (3) can be got posture changing matrix function R (t):

$R\left(t\right)=\left[\begin{array}{ccc}{d}_1^2[1-\cos \mathrm{\&theta;}\left(t\right)]+\cos \mathrm{\&theta;}\left(t\right)& d_1{d}_2[1-\cos \mathrm{\&theta;}\left(t\right)]-d_3\sin \mathrm{\&theta;}\left(t\right)& d_1{d}_3[1-\cos \mathrm{\&theta;}\left(t\right)]+d_2\sin \mathrm{\&theta;}\left(t\right)\\ d_1{d}_2[1-\cos \mathrm{\&theta;}\left(t\right)]+d_3\sin \mathrm{\&theta;}\left(t\right)& d_2^2[1-\cos \mathrm{\&theta;}\left(t\right)]+\cos \mathrm{\&theta;}\left(t\right)& d_2{d}_3[1-\cos \mathrm{\&theta;}\left(t\right)]-d_1\sin \mathrm{\&theta;}\left(t\right)\\ d_1{d}_3[1-\cos \mathrm{\&theta;}\left(t\right)]-d_2\sin \mathrm{\&theta;}\left(t\right)& d_2{d}_3[1-\cos \mathrm{\&theta;}\left(t\right)]+d_1\sin \mathrm{\&theta;}\left(t\right)& d_3^2[1-\cos \mathrm{\&theta;}\left(t\right)]+\cos \mathrm{\&theta;}\left(t\right)\end{array}\right]---\left(9\right)$

It is exactly the automatic pose adjustment path of aircraft components 7 to be adjusted with posture changing matrix function R (t) that curve P (t) is adjusted in the position.

Based on the inverse kinematics principle, the position cooked up can be adjusted the track that curve P (t) and posture changing matrix function R (t) are converted into relevant posture adjustment point, this track has the speed and the acceleration of smooth change, and method for transformation is as follows:

As shown in drawings, establish tie-point A, B, C, D and under current pose, have initial coordinate A ₀, B ₀, C ₀, D ₀, then tie-point track A (t), B (t), C (t), D (t) are:

A(t)＝R(t)A ₀+P(t)

B(t)＝R(t)B ₀+P(t)

C(t)＝R(t)C ₀+P(t)

D(t)＝R(t)D ₀+P(t)

(10)

The pose adjustment comprises two processes: at first carry out translation, T ₁Finish in time; Be rotated T then ₂Finish in time.Therefore, be total to T consuming time ₁+ T ₂

The displacement transducer 5 of described each steady arm of on-line monitoring, each compensates step to the position of motion to steady arm according to displacement transducer 5 readings:

1) when certain steady arm displacement transducer 5 reading be-0.05～-during 0.1mm, the interruption pose is adjusted, request laser tracker 7 detects the coordinate of each target reflection sphere 9 centre of sphere on the aircraft components 8 to be adjusted again, with the comparison that designs a model of aircraft components 8 to be adjusted, calculate the coordinate of the centre of sphere under global coordinate system of spherical process connection 6 according to comparison result;

2) each steady arm each all determine in the position under the global coordinate system to motion any time, corresponding with the coordinate of the centre of sphere of spherical process connection 6, when the reading of steady arm displacement transducer 5-0.05～-during 0.1mm, each of this steady arm has error to the position of motion and the sphere centre coordinate of spherical process connection 6, after calculating the margin of error, each compensates to the position of motion to this steady arm, make the displacement transducer reading 5 of this steady arm 0～-the 0.05mm interval in.

Claims (8)

1. aircraft part pose Adjustment System based on four locater, it is characterized in that comprising 4 three-coordinate positioners, spherical process connection (6), laser tracker (7), aircraft components to be adjusted (8), target reflection sphere (9), support aircraft components to be adjusted (8) by 4 three-coordinate positioners by spherical process connection (6), at aircraft components to be adjusted (8) target reflection sphere (9) is installed, adopt laser tracker (7) to follow the tracks of the locus of target reflection sphere (9), three-coordinate positioner comprises base plate (1), X is to motion (2), Y is to motion (3), Z is to motion (4), displacement transducer (5), on going up from descending, base plate (1) is provided with X successively to motion (2), Y is to motion (3), Z is to motion (4), be provided with the circular conical surface chamber of matching at Z to motion (4) upper end, displacement transducer (5) is housed in the circular conical surface chamber with spherical process connection (6).

2. a kind of aircraft part pose Adjustment System according to claim 1 based on four locater, it is characterized in that described aircraft components to be adjusted (8) is the frame girder construction, spherical process connection (6) is installed on the frame beam of aircraft components to be adjusted (8), and the center of gravity of aircraft components to be adjusted (8) is positioned at the quadrilateral that four locater is formed.

3. aircraft part pose method of adjustment based on four locater is characterized in that may further comprise the steps:

1) aircraft components to be adjusted (8) is placed on 4 three-coordinate positioners by spherical process connection (6),

2) send instruction to laser tracker (7), make it set up global coordinate system OXYZ in the working site, and go up fixed local coordinate system O ' X ' Y ' Z ' at aircraft components to be adjusted (8);

3) adopt the coordinate of local coordinate system initial point O ' under global coordinate system OXYZ to express the position of aircraft components to be adjusted (8), adopt upset, pitching, inclination to express the attitude of aircraft components to be adjusted (8);

4) under global coordinate system, calculate the current pose and the object pose of aircraft components to be adjusted (8);

5) cook up the path of aircraft components to be adjusted (8) from current pose to object pose;

6) generate each track of steady arm according to this path to motion;

7) according to each track to motion of steady arm, the four locater coordinated movement of various economic factors realizes the pose adjustment;

8) displacement transducer of each steady arm of on-line monitoring (5), each compensates to the position of motion to steady arm according to displacement transducer (5) reading.

4. a kind of aircraft part pose method of adjustment according to claim 3 based on four locater, it is characterized in that described to laser tracker (7) transmission instruction, make it set up global coordinate system OXYZ in the working site, and go up fixed local coordinate system O ' X ' Y ' Z ' step at aircraft components to be adjusted (8):

1) 6～8 target reflection spheres (9) is installed on the ground of working site, wherein 3～4 is one group, specify the X-direction of global coordinate system, other 3～4 is one group, specify the Y direction of global coordinate system, the centre of sphere of a selected target reflection sphere is set up global coordinate system OXYZ as true origin according to right hand rule;

2) go up installation 3～10 target reflection spheres (9) at aircraft components to be adjusted (8), the centre of sphere of target reflection sphere is not on same straight line, the coordinate of the centre of sphere of measurement target drone reflection sphere under global coordinate system OXYZ, with the comparison that designs a model of aircraft components to be adjusted (8), set up local coordinate system O ' X ' Y ' Z ' according to comparison result.

5. a kind of aircraft part pose method of adjustment based on four locater according to claim 3 is characterized in that described current pose and the object pose step that calculates aircraft components to be adjusted (8) under global coordinate system:

1) calculate current or object pose under, the coordinate of aircraft components to be adjusted (8) local coordinate system initial point O ' under global coordinate system OXYZ expressed the current or target location P=[P of aircraft components to be adjusted (8) _x, P _y, P _z] ^T

2) make the state of three coordinate axis from overlapping of aircraft components to be adjusted (8) local coordinate system with each coordinate axis of global coordinate system, arrive current or targeted attitude around global coordinate system X, Y, the rotation of Z axle a, b, c radian successively, and express the current or targeted attitude RPY=[a of aircraft components to be adjusted (8) with this angle sequence, b, c] ^T

3) comprehensive current or target location, current or targeted attitude write out the current pose or the object pose L=[P of aircraft components to be adjusted (8) _x, P _y, P _z, a, b, c] ^T

6. a kind of aircraft part pose method of adjustment according to claim 3 based on four locater, it is characterized in that the described path step of aircraft components to be adjusted (8) of cooking up: the path is treated to a translation and once rotation, arrives object pose from current pose from current pose to object pose.

7. a kind of aircraft part pose method of adjustment based on four locater according to claim 3 is characterized in that described each track step to motion that generates steady arm according to this path:

1), adopt time-based 3～5 order polynomial rules to draw position adjustment amount, so that each of steady arm obtains dynamics preferably to motion for the path for translation of aircraft components to be adjusted (8);

2), adopt time-based 3～5 order polynomial rules to draw the angular setting amount, so that each of steady arm obtains dynamics preferably to motion for the rotate path of aircraft components to be adjusted (8).

8. a kind of aircraft part pose method of adjustment according to claim 3 based on four locater, the displacement transducer (5) that it is characterized in that described each steady arm of on-line monitoring, each compensates step to the position of motion to steady arm according to displacement transducer (5) reading:

1) when certain steady arm displacement transducer (5) reading be-0.05～-during 0.1mm, the interruption pose is adjusted, request laser tracker (7) detects the coordinate that aircraft components to be adjusted (8) is gone up each target reflection sphere (9) centre of sphere again, with the comparison that designs a model of aircraft components to be adjusted (8), calculate the coordinate of the centre of sphere under global coordinate system of spherical process connection (6) according to comparison result;

2) each steady arm each all determine in the position under the global coordinate system to motion any time, corresponding with the coordinate of the centre of sphere of spherical process connection (6), when the reading of steady arm displacement transducer (5)-0.05～-during 0.1mm, each of this steady arm has error to the position of motion and the sphere centre coordinate of spherical process connection (6), after calculating the margin of error, each compensates to the position of motion to this steady arm, make the displacement transducer reading (5) of this steady arm 0～-the 0.05mm interval in.

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