应用于飞机装配的并联机构技术发展综述

并联机构的闭链结构使其具有良好的精度、刚性及动态性能，可满足飞机装配的精度、效率需求，因此，以并联机构为构型主体的自动化装配装备正越来越多地应用于飞机装配中。首先，概述了当前并联机构发展现状及飞机装配体现出的新特点，分析了并联机构应用于飞机装配的优势。其次，从飞机装配零部件加工和飞机零部件装配调姿定位两个方面综述了应用于飞机装配并联机构的国内外发展现状。然后，探讨了并联机构主要的前沿研究问题，从并联机构可重构设计、性能评价及优化设计、精度建模和力/位协同控制等4个方面，详细分析了并联机构应用于飞机装配中的关键技术。最后，对并联机构应用在飞机装配中未来的发展方向和机遇做了展望。

A review of parallel kinematic mechanism technology for aircraft assembly

The closed-form chain structure provides the parallel mechanism with good precision, stiffness and dynamic performance, meeting the precision and efficiency requirements for aircraft assembly. Therefore, the automatic assembly equipment with parallel kinematic mechanism as the main component is more and more applied to aircraft assembly. Firstly, the current situation of parallel mechanism and the new characteristics of aircraft assembly are summarized, analyzing the advantages of parallel kinematic mechanism in aircraft assembly. Secondly, the domestic and foreign research on parallel kinematic mechanism in aircraft assembly is summarized from the component parts manufacture and pose/position adjustment. Thirdly, the main research problems of parallel kinematic mechanism are discussed. The key technologies of parallel mechanism in aircraft assembly are analyzed in detail from four aspects, including reconfigurable design, performance evaluation and optimization design, precision modeling and force/position coordinative control. Finally, the future development direction and opportunities of parallel mechanism in aircraft assembly are prospected.