管路组件可重构装配工装系统的定位器自动配置与性能分析

为解决航空航天管路组件的装配质量及效率问题，设计并实现了一套新型自动化可重构工装系统。为实现管路工装系统定位器的自动配置，首先基于D-H法建立了定位器的运动学模型，并以配置系统解析的管接头位姿参数为目标值求解出了定位器的配置参数，为管路工装模型的自动配置提供了数据依据。在此基础上，利用数值法求出了定位器的工作空间，并以工作空间的最大包络直径作为干涉圆直径提出了定位器的运动路径规划方法。然后，基于坐标变换理论和空间尺寸链方法，建立了定位器的定位误差模型，为定位器乃至整个管路工装系统的性能分析提供了理论依据。最后，以某航空发动机一套管路模型的自动配置和性能分析过程为例给出了应用验证。

Automatic configuration and performance analysis of locators for reconfigurable assembly fixture system of pipeline components

To improve the assembly quality and efficiency of the aerospace pipeline, a novel automatic reconfigurable assembly fixture system is designed and implemented. To realize automatic configuration of the locators for the fixture system, a kinematic model for the locator is established based on the D-H method. The configuration parameters of the locator are solved in terms of the pose parameters of the corresponding tube joint that are analyzed and extracted from the configuration system, so as to provide the data basis for automatic configuration of the fixture model. Based on the configuration parameters, the workspace of the locator is obtained using the numerical analysis approach, and the path planning method for the locator is developed, with the maximum envelope diameter of the locator workspace being used as the interference diameter of the collision circle. According to the theory of homogeneous coordinate transformation and the method of space dimension chain, a position error model for the locator is proposed, which can provide a theoretical basis for performance analysis of the locator and even of the whole fixture. Automatic configuration and performance analysis of an aero-engine pipeline model is given for verification.