面向飞机大部件调姿的PPPS机构球铰点中心位置闭环标定方法

doi:10.7527/S1000-6893.2015.0304

Abstract

Abstract:

Precision of ball joint center position in PPPS mechanism has a significant impact on the posture aligning accuracy of large aircraft components. The common method to get the position of ball joint center is poor at precision and efficiency. To overcome the shortage of current means, a closed-loop calibration method is proposed. The position error of ball joint center brings deviation to positioner displacement in backward transformation and the orientation transformation parameters also have an effect on the deviation. The relationship between positioner displacement error and its influencing factors is analyzed firstly to show the necessity of this paper. A new calculation algorithm of posture transformation parameters, which is simpler and more direct than traditional singular value decomposition (SVD) method, is presented based on the key characteristics (KC) and the geometric meaning of SVD method. Then the posture transformation parameters are computed before and after the aligning of large components by the use of the proposed algorithm. The calculated parameters and the positioner displacement feedback from numerical control system are utilized to calibrate the position of ball joint center. Finally, a test vertical tail of a certain aircraft is used to demonstrate the validity and practicability of the proposed methods.

Key words: large components alignment, PPPS mechanism, ball joint center, key characteristic, SVD, closed-loop calibration

CLC Number:

V262.4

LEI Pei, ZHENG Lianyu. Closed-loop calibration method of PPPS mechanism ball joint center position for posture adjustment of large aircraft components[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2016, 37(10): 3186-3196.

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Closed-loop calibration method of PPPS mechanism ball joint center position for posture adjustment of large aircraft components

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