Cabin posture adjustment method based on redundant constrained parallel mechanism

Chu, Wenmin; Huang, Xiang; Li, Shuanggao

doi:10.1108/aa-07-2019-0140

Cited by 16 publications

(7 citation statements)

References 28 publications

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“…Therefore, the position and posture of the LCA relative to the GCS Og-xyz can be represented by a six dimensional vector [α β γ x y z] T . According to the principle of rigid body rotation [20,21], the rotation matrix from GCS to CCS can be represented by R, and the translation vector from GCS to CCS can be represented by T:…”

Section: Measurement Methods Of Lca Position and Posturementioning

confidence: 99%

A novel calibration method for ball joint position in a posture adjustment system

Chu¹,

Huang²,

Li³

2020

Meas. Sci. Technol.

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In posture adjustment systems for large components of aircraft (LCA), composed of several numerical control locators (NCLs), the position deviation of the ball joint (BJ) connecting the LCA to the NCL is an important factor affecting the adjustment accuracy of LCA. Due to manufacturing and installation errors, it is impossible to calculate the precise position of the ball joint center (BJC) relative to the LCA via theoretical design models. To address this problem, a novel calibration method of the BJC position is proposed in this paper. Firstly, the influence of the position deviation of the BJC on the posture adjustment precision of the LCA is studied. Secondly, the calculation model of the BJC position is established in accordance with the relationship between the Z-axle displacement of the NCL and the position and posture variation of the LCA after each NLC rise. Thirdly, based on this model, the uncertainty of the BJC calibration is analyzed by Monte Carlo simulation. Finally, a simulated posture adjustment system, built in the laboratory and the BJC position is calibrated, using the method of force-position hybrid control (FPHC). The experimental results show that, compared with the conventional calibration method, the method proposed in this paper can calibrate the BJC position more accurately, and can greatly improve the precision of posture adjustment.

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Section: Measurement Methods Of Lca Position and Posturementioning

confidence: 99%

A novel calibration method for ball joint position in a posture adjustment system

Chu¹,

Huang²,

Li³

2020

Meas. Sci. Technol.

Self Cite

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“…R is the rotation parameter, and t is the translation parameter (Chu et al , 2020), corresponding to rotation and translation parameters for another measurement coordinate system, where: …”

Section: Analysis Of Measurement Systems and Registration Error Factorsmentioning

confidence: 99%

Research on ERS point registration of large-size measurement field based on neural network non-uniform temperature field

Huang

2023

RIA

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Purpose Large size of aircraft assembly tooling structure and complex measurement environment exist. The laid enhanced reference points (ERS) are subject to a combination of nonuniform temperature fields and measurement errors, resulting in increased measurement registration errors. In view of the nonuniform temperature field and measurement errors affecting the ERS point registration problem, the purpose of this paper is to propose a neural network-based ERS point registration compensation method for large-size measurement fields under a nonuniform temperature field. Design/methodology/approach The approach is to collect ERS point information and temperature data, normalize the collected data to complete the data structure design and complete the construction of the neural network prediction model by data training. The data learning is performed to complete the prediction model construction, and the prediction model is used to complete the compensation analysis of ERS points. Finally, the algorithm is verified through experiments and engineering practice. Findings Experimental results show that the proposed neural network-based ERS point prediction and compensation method for nonuniform temperature fields effectively predicts ERS point deformation under nonuniform temperature fields compared with the conventional method. After the compensation analysis, the registration error is effectively reduced to improve registration accuracy. Reducing the combined effect of environmental nonuniform temperature field and measurement error has apparent advantages. Originality/value The method reduces the registration error caused by combining a nonuniform temperature field and measurement error. It can be used for aircraft assembly site prediction and registration error compensation analysis, which is essential to improve measurement accuracy further.

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“…Where I N is the inertia matrix of the terminal (Chu et al , 2020), which can be calculated from the NCL trajectory fed back by the servo system, italicJlT is the Jacobian matrix of the docking system, F d is the contact force matrix of the ball joint measured by the TDFS, R g is the gravity direction matrix. Their specific expressions are as follows: …”

Section: Compliant Docking Control Strategy For Large Gear Componentsmentioning

confidence: 99%

An active compliant docking method for large gear components based on distributed force sensor

Chu

Huang

2022

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Purpose Large gear components widely exist in the transmission system of helicopters, ships, etc. Due to the small assembly clearance of large gear components, using an automatic docking system based on position control will lead to forced assembly. The purpose of this paper is to reduce the assembly stress of large gear components by an active compliant docking technology based on distributed force sensors. Design/methodology/approach Firstly, aiming at the noise interference in three-dimensional force sensor (TDFS), Kalman filter and Savitzky–Golay filter are used to process the sensor’s output signal. Secondly, the active compliant docking control model is constructed according to the principle of impedance control. Thirdly, the contact force is calculated based on the Euler equation, and the impedance control parameters are tuned by the particle swarm optimization algorithm. Finally, an active compliant docking system of a large gear structure based on distributed force sensor is built in the laboratory to verify the proposed method. Findings The experimental results show that the contact force and contact torque gradually decrease in all directions and are always in the safe range during the docking process. The feasibility of this method in practical application is preliminarily demonstrated. Originality/value The distributed TDFSs are used to replace the traditional six-dimensional force sensor in the active compliant docking system of gear components, which solves the problem of the small bearing capacity of the conventional active compliant docking system. This method can also be used for the docking of other large components.

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Cabin posture adjustment method based on redundant constrained parallel mechanism

Cited by 16 publications

References 28 publications

A novel calibration method for ball joint position in a posture adjustment system

A novel calibration method for ball joint position in a posture adjustment system

Research on ERS point registration of large-size measurement field based on neural network non-uniform temperature field

An active compliant docking method for large gear components based on distributed force sensor

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