Transactions of Nanjing University of Aeronautics & Astronautics
Kinematic Calibration of Asymmetricly Actuated 6-DOF 3-PPPS Parallel Mechanism
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Abstract:
An asymmetric actuated 3-PPPS parallel mechanism was analyzed in its application to an aircraft wing adjustment process. The posture alignment precision at the wing ends was enhanced with a kinematic calibration method. A constraint equation was built based on a constraint condition that distances among spherical joints of the mechanism were constant, and further eight groups of analytic forward solutions of all poses of the mechanism were solved. An inverse equation of the posture alignment displacements of aircraft wing parts was built based on space vector chains, and a mapping equation of the pose and geometric errors of the posture alignment mechanism containing 39 error sources was derived by differentiating the kinematic equation of the mechanism. After kinematic calibration experiments, the maximum position error of the posture alignment platform dropped from 2.67 mm to 0.82 mm, the maximum angle error decreased from 0.481° to 0.167°, and the posture alignment precision of the aircraft wing end was improved.
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CHINA AERO-SCIENCES
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