大部件对接中iGPS高精度位姿测量优化设计

doi:10.7527/S1000-6893.2014.0286

Abstract

Abstract:

In order to ensure the accuracy and improve the efficiency of posture measurement for large size component joining, at the same time, to achieve large size optimal component posture assembly, optimal design technology based on iGPS measurement system of posture measurement for large size component joining has been put forward. Firstly, the joining measurement network based on iGPS system measurement model and uncertainty model is established; then, the accuracy of network measurement is analyzed by simulation and iGPS multi-transmitter station distribution of joining measurement network is designed optimally. Secondly, the station distribution of posture alignment benchmark points is designed optimally based on simulation analysis of large size component posture parameters' solving model and uncertainty model. Finally, posture measurement mode contrast test is conducted on a large size component joining. The results indicate that the position adjustment uncertainty of x, y, z is less than 0.16 mm and the attitude adjustment uncertainty of attitude roll angle, pitch angle and deflection angle is less than 3.1". The accuracy is improved by at least 20% compared to the measurement methods without optimal arrangement design. Consequently, it is proved that the method of measurement optimal design can measure a large mobile part in real time efficiently and with high accuracy, and it is feasible to effectively improve the efficiency and accuracy of large size component measurement .

Key words: large size component joining, posture, digital measurement, iGPS, station layout optimization

CLC Number:

V556.2

LIN Xuezhu, LI Lijuan, CAO Guohua, REN Jiaojiao, ZHENG Linbin, LIU Qi. Optimal design based on iGPS high-precision posture measurement for large size component joining[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2015, 36(4): 1299-1311.

References

[1] Qiu B G, Jiang J X, Bi Y B, et al. Posture alignment and joining test system for large aircraft fuselages[J]. Acta Aeronoutica et Astronautica Sinica, 2011, 32(5): 908-919 (in Chinese). 邱宝贵, 蒋君侠, 毕运波, 等. 大型飞机机身调姿与对接试验系统[J]. 航空学报, 2011, 32(5): 908-919.
[2] Mei Z Y, Fan Y Q. Flexible assembly technique for aircraft parts joining based on laser tracking and positioning[J]. Joumal of Beijing University of Aeronautics and Astronautics, 2009, 35(1): 65-69 (in Chinese). 梅中义, 范玉青. 基于激光跟踪定位的部件对接柔性装配技术[J]. 北京航空航天大学学报, 2009, 35(1): 65-69.
[3] Zhu Y G, Huang X, Li L G, et al. Automation adjustment and tracking measurement of fuselage position and pose[J]. Mechanical Science and Technology for Aerospace Engineering, 2012, 31(7): 1121-1127 (in Chinese). 朱永国, 黄翔, 李泷杲, 等. 中机身位置和姿态调整及其跟踪测量[J]. 机械科学与技术, 2012, 31(7): 1121-1127.
[4] Zhang B, Yao B G, Ke Y L. A novel posture alignment system for aircraft wing assembly[J]. Journal of Zhejiang University Science A, 2009, 10(11) : 1624-1630.
[5] Wang Z, Mastrogiacomo L, Franceschini F, et al. Experimental comparison of dynamic tracking performance of iGPS and laser tracker[J]. The International Journal of Advanced Manufacturing Technology, 2011, 56(1-4): 205-213.
[6] Williams G, Chalupa E, Rahhal S. Automated positioning and alignment systems[J]. SAE Transactions, 2000, 109(11): 737-745.
[7] Naing S. Feature based design for jigless assembly[D]. Bedfordshire: Cranfield University, 2004.
[8] Muelaner J E, Wang Z, Jamshidi J, et al. Study of the uncertainty of angle measurement for a rotary-laser auto-matic theodolite(R-LAT)[J]. Proceedings of the Institution of Mechanical Engineers, 2009, 223(B3): 217-229.
[9] Maisano D A, Jamshidi J, Franceschini F ,et al. Indoor GPS: system functionality and initial performance evaluation[J]. International Journal of Manufacturing Research, 2008, 3(3): 335-349.
[10] Maisano D A, Jamshidi J, Franceschini F, et al. Acomparison of two distributed large-volume measurement systems : the mobile spatial coordinate measuring system and the indoor global positioning system[J]. Proceedings of the Institution of Mechanical Engineers, 2009, 223(B3): 511-521.
[11] Du F Z, Chen Z H, Tang X Q. Precision analysis of iGPS measurement field and its application[J]. Acta Aeronautica et Astronautica Sinica, 2012, 33(9): 1737-1745 (in Chinese). 杜福洲, 陈哲涵, 唐晓青. iGPS测量场精度分析及其应用研究[J]. 航空学报, 2012, 33(9): 1737-1745.
[12] Mautz R. Overview of current indoor positioning systems[J]. Geodesy and Cartography, 2009, 35(1): 18-22.
[13] Apparatus and method for determining position: United States Patent, US6501543B2[P]. 2002-12-31.
[14] Li Y, Zhou Z L, Ma L Q, et al. The evaluation method for the indoor GPS measurement network based on multi-uncertainty fusion algorithm[J]. Acta Metrologica Sinica, 2012, 33(z1): 24-27 (in Chinese). 李洋, 周自力, 马骊群, 等. 基于多不确定度融合的室内GPS测量网评价方法[J]. 计量学报, 2012, 33(z1): 24-27.
[15] Hou H L, Zhou D Y. Measurement method and location optimization of multi-photoelectric theodolite for positioning of aviation weapons[J]. Acta Photonica Sinica, 2008(5): 10-20 (in Chinese) . 侯宏录, 周德云. 光电经纬仪异面交会测量及组网布站优化设计[J]. 光子学报, 2008(5): 10-20.
[16] Du F Z, Wu P. Quality evaluation method for aircraft large components joining based on the position and orientation measurement uncertainty[J]. Journal of Beijing University of Aeronautics and Astronautics, 2013, 39(1): 73-77 (in Chinese). 杜福洲, 吴璞. 基于位姿测量不确定度的飞机对接质量评估[J]. 北京航空航天大学学报, 2013, 39(1): 73-77.
[17] Luo F, Zou F, Zhou W Y. Posture calculating algorithm in large aircraft component butt[J]. Aeronautical Manufacturing Technology, 2011(3): 91-94 (in Chinese). 罗方, 邹方, 周万勇.飞机大部件对接中的位姿计算方法[J]. 航空制造技术, 2011(3): 91-94.
[18] Wang Y H,Han X G. Research on posture evaluation algorithm based on weighted least square for large size component merging[J]. Aviation Precision Manufacturing Technology, 2011, 47(5): 48-51 (in Chinese). 王颖辉, 韩先国. 基于加权最小二乘法的大部件对接位姿评估算法研究[J]. 航空精密制造技术, 2011, 47(5): 48-51.
[19] Zhou T G. Evaluation of uncertainty in measurement with Monte-Carlo method[M]. Beijing: China Zhijian Publishing House, 2013: 42-60 (in Chinese). 周桃庚. 用蒙特卡罗法评定测量不确定度[M]. 北京: 中国质检出版社, 2013: 42-60.
[20] Zhou N. Research on aircraft digital measurement and quality control technology[D]. Changchun: Changchun University of Science and Technology, 2012 (in Chinese). 周娜. 飞机数字化测量及质量控制技术研究[D]. 长春: 长春理工大学, 2012.

Optimal design based on iGPS high-precision posture measurement for large size component joining

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 14

Recommended Articles

Metrics

Comments

[1]	ZHENG Yanhong, DENG Xiangjin, JIN Shengyi, CHEN Liping, YAO Meng, ZHAO Zhihui. Imaging posture and coverage of Chang'e 5 surface sampling manipulator cameras [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(7): 325388-325388.
[2]	FENG Yazhou, REN Junxue, LIU Zhanfeng, HAN Xiaolan. Model construction of complex thin-wall structure parts for adaptive machining [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(10): 524820-524820.
[3]	XIE Feng, HONG Guanxin, ZHANG Chenkai, WEI Zhongwu, MA Handong. Ground calibration method of captive trajectory system parallel mechanism [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020, 41(1): 423175-423175.
[4]	CHEN Wenliang, PAN Guowei, WANG Min. High precision positioning method for aircraft fuselage panel based on force/position control [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2019, 40(2): 522403-522403.
[5]	ZHENG Jianjun, TANG Jiyun, WANG Binwen. Static test technology for C919 full-scale aircraft structure [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2019, 40(1): 522364-522364.
[6]	ZHANG Zhicheng, ZHANG Peng, GAO Hui, DONG Wei. Mechanism design and simulation of a multi-joint foot restraint [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2018, 39(S1): 722316-722316.
[7]	HAN Feng, TIAN Wei, LIAO Wenhe, ZHANG Xuan, WANG Lifeng. Normal posture adjustment algorithm for lightweight auto-crawling drilling and riveting system based on parallel mechanism [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2015, 36(6): 2083-2090.
[8]	HUANG Peng, WANG Qing, LI Jiangxiong, KE Yinglin, ZHANG Chunshan. Adjustment Optimal Trajectory Planning of Aircraft Component Based on Dynamics Model [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2014, 35(9): 2672-2682.
[9]	QU Weiwei, HOU Penghui, YANG Genjun, HUANG Guanping, YIN Fucheng, SHI Xin. Research on the Stiffness Performance for Robot Machining Systems [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2013, 34(12): 2823-2832.
[10]	ZHU Xusheng, ZHENG Lianyu. Multiple-objective Optimization Algorithm Based on Key Assembly Characteristics to Posture Best Fit for Large Component Assembly [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2012, 33(9): 1726-1736.
[11]	DU Fuzhou, CHEN Zhehan, TANG Xiaoqing. Precision Analysis of iGPS Measurement Field and Its Application [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2012, 33(9): 1737-1745.
[12]	QIU Baogui, JIANG Junxia, BI Yunbo, FANG Qiang, WANG Qing, ZHAN Jianchao, LI Jiangxiong, KE Yinglin. Posture Alignment and Joining Test System for Large Aircraft Fuselages [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2011, 32(5): 908-919.
[13]	Guo Zhimin;Jiang Junxia;Ke Yinglin. Posture Alignment for Large Aircraft Parts Based on Three POGO Sticks Distributed Support [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2009, 30(7): 1319-1324.
[14]	Xiong Ruibin;Huang Pujin;Ke Yinglin. A New Posture Following and Keeping Fixture for Aircraft Assembly [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2009, 30(12): 2469-2475.