| 机身自动调姿方法及误差分析 |
| |
| 引用本文： | 朱永国,黄翔,方伟,李泷杲.机身自动调姿方法及误差分析[J].南京航空航天大学学报,2011,43(2). |
| |
| 作者姓名： | 朱永国 黄翔 方伟 李泷杲 |
| |
| 作者单位： | 1. 南京航空航天大学机电学院 南京 210016
2. 上海飞机制造有限公司 上海 200436 |
| |
| 基金项目： | 南京航空航天大学基础科研基金(NS2010128)资助项目 |
| |
| 摘 要： | 提出了机身自动调姿方法.该调姿方法利用研发的调姿控制平台将激光跟踪仪跟踪测量、托架式自动定位器、精确控制系统和调姿集成软件系统有机结合起来,完成位姿信息采集、位姿解算、轨迹规划、运动学逆解、定位器自动定位,实现机身自动精确调姿.调姿过程中,跟踪仪自动跟踪测量位姿基准点,获得机身实时位姿,从而对调姿轨迹进行及时修正.利用微变换齐次变换矩阵,研究了各误差源与机身调姿误差的关系,对多个定位器误差进行了融合,误差分析为保证调姿精度提供了理论依据.初步工程验证表明:该调姿方法能有效降低机身调姿误差,提高总装精度和效率.
|
| 关 键 词： | 飞机装配 位姿调整 标定 自动定位器 误差分析 |
Fuselage Automatic Position and Pose Adjustment Method and Its Error Analysis |
| |
| Zhu Yongguo
,
Huang Xiang
,
Fang Wei
,
Li Shuanggao.Fuselage Automatic Position and Pose Adjustment Method and Its Error Analysis[J].Journal of Nanjing University of Aeronautics & Astronautics,2011,43(2). |
| |
| Authors: | Zhu Yongguo Huang Xiang Fang Wei Li Shuanggao |
| |
| Institution: | Zhu Yongguo1,Huang Xiang1,Fang Wei2,Li Shuanggao1(1.College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics & Astronautics,Nanjing,210016,China,2.Shanghai Aircraft Manufacturing Co.Ltd,Shanghai,200436,China) |
| |
| Abstract: | An automatic fuselage position and pose adjustment method is presented.By using the developed position and pose adjustment control platform,the method combines laser tracker tracking and measuring,bracket automatic positioner,accurate control system with position and pose adjustment integrated software system.It realizes automatic fuselage position and pose high precision adjustment.The control platform performs position and pose information collection and calibration,fuselage trajectory planning,inverse ki... |
| |
| Keywords: | airplane assembly position and pose adjustment calibration automatic positioner error analysis |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
|
