Optimal selection of the supporting points of large component aligned and positioned by parallel manipulator

Abstract

Large components such as wing sections should be aligned and positioned in a desired position prior to the final manufacturing or assembly, so a digital alignment and position device based on six degree of freedom parallel manipulator with several prismatic-prismatic-prismatic-spherical branches was designed and fabricated to meet the needs. The digital alignment and position device is an alignment device based on the parallel manipulator, and it is also a positioning and holding fixture for large components manufacturing or assembly. In order to effectively and efficiently select the supporting points of large component where the digital alignment and position device branch is connected with, the performance of the parallel manipulator and the fixture should be comprehensively analyzed at the same time. The global performance indices such as the dexterity index, the bearing capacity index, and the stiffness index are calculated based on the mechanism Jacobean matrix of the parallel manipulator, and the positioning stability index is calculated based on the position Jacobean matrix of the fixture. The results show that the global performance indices are not related to the pose, but the positioning stability index is; in addition, all indices rely on the originally selected supporting points and provide the basis for the effective selection of the supporting points for large component aligned and positioned by the digital alignment and position device, which is based on parallel manipulator with prismatic- prismatic-prismatic-spherical pairs.