Accuracy Improvement Calibrations for the Double-Position 4-PPPS Aircraft Docking System | |
Qi RL(祁若龙)1; Tang YG(唐元贵)2; Zhang K(张珂)1 | |
刊名 | Mathematical Problems in Engineering
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2020 | |
卷号 | 2020页码:1-14 |
ISSN号 | 1024-123X |
产权排序 | 2 |
英文摘要 | A double-positions 4-PPPS parallel mechanism is used for the aircraft fuselage assembly process to improve the docking efficiency and reduce the labor intensity. However, the accuracy is hard to guarantee, for the mechanism is large and redundant and has manufacturing and assembly errors. To improve the accuracy of the 4-PPPS parallel aircraft fuselage docking system, firstly, an averaging iteration method is proposed to calibrate the datum points in the airplane coordinate which are the references of the entire docking system. And secondly, a kinematic calibration method based on the derivative of the spatial pose transformation is proposed to calibrate up to 42 kinematic parameters. By these two methods, the final maximum position error reduced from 2.2 mm to 0.035 mm and the maximum pointing error reduced from 0.08 degree to 0.018 degree. The accuracy measurement and docking experiment prove the efficiency of the proposed methods. |
资助项目 | China Postdoctoral Science Foundation[2019M651145] ; State Key Laboratory of Robotics[2019-O21] ; Natural Science Foundation of Liaoning Province[2019-ZD-0663] |
WOS关键词 | KINEMATIC CALIBRATION ; MANIPULATORS ; ROBOT |
WOS研究方向 | Engineering ; Mathematics |
语种 | 英语 |
WOS记录号 | WOS:000533316700003 |
资助机构 | China Postdoctoral Science Foundation (2019M651145) ; State Key Laboratory of Robotics (2019-O21) ; Natural Science Foundation of Liaoning Province (2019-ZD-0663) |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/26831] ![]() |
专题 | 沈阳自动化研究所_水下机器人研究室 |
通讯作者 | Qi RL(祁若龙) |
作者单位 | 1.School of Mechanical Engineering, Shenyang Jianzhu University, Shenyang, Liaoning, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning, China |
推荐引用方式 GB/T 7714 | Qi RL,Tang YG,Zhang K. Accuracy Improvement Calibrations for the Double-Position 4-PPPS Aircraft Docking System[J]. Mathematical Problems in Engineering,2020,2020:1-14. |
APA | Qi RL,Tang YG,&Zhang K.(2020).Accuracy Improvement Calibrations for the Double-Position 4-PPPS Aircraft Docking System.Mathematical Problems in Engineering,2020,1-14. |
MLA | Qi RL,et al."Accuracy Improvement Calibrations for the Double-Position 4-PPPS Aircraft Docking System".Mathematical Problems in Engineering 2020(2020):1-14. |
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