A ball head positioning method based on hybrid force-position control

Abstract

In the digital aircraft assembly system, the large component of aircraft is connected with the numerical control locator through a ball joint composed of a ball head and a ball socket. To ensure the posture adjustment accuracy of large component of aircraft, the clearance between the ball head and the ball socket is very small. Therefore, it is very difficult to accurately guide the ball head of large component of aircraft into the ball socket of the numerical control locator. Aiming at this problem, this article proposes a ball head positioning method based on hybrid force-position control, so that the ball socket can approach the ball head adaptively. First, according to the technical characteristics of the ball head positioning, the axes of the numerical control locator are divided into position control axis and force control axis, and the conditions to ensure the safety of ball head positioning are analyzed. Then the control model of ball head positioning based on hybrid force-position control is established and simulated by Simulink. Finally, a simulated posture adjustment system is built in the laboratory, and a series of ball head positioning experiments based on hybrid force-position control are carried out. The experimental results show that, compared with the traditional ball head positioning method, the ball head positioning process based on hybrid force-position control is more stable and faster, and the method can significantly reduce the lateral force. Moreover, the proposed method can be easily integrated into the existing posture adjustment system without additional hardware cost.

Keywords

Aircraft assembly ball joint large component hybrid force-position control ball head positioning

Get full access to this article

View all access options for this article.

References

Mei

Maropoulos

PG.

Review of the application of flexible, measurement-assisted assembly technology in aircraft manufacturing. Proc IMechE, Part B: J Engineering Manufacture 2014; 228(10): 1185–1197.

Deng

Zeng

, et al. A coaxial alignment method for large aircraft component assembly using distributed monocular vision. Assembl Autom 2018; 38(4): 437–449.

Zhu

Huang

Fang

, et al. Trajectory planning algorithm based on quaternion for 6-dof aircraft wing automatic position and pose adjustment method. Chin J Aeronaut 2010; 13(6): 707–714.

Zhang

Wang

An optimal method of posture adjustment in aircraft fuselage joining assembly with engineering constraints. Chin J Aeronaut 2017; 30(6): 2016–2023.

Drouot

Zhao

Irving

, et al. Measurement assisted assembly for high accuracy aerospace manufacturing. In: 16th IFAC symposium on information control problems in manufacturing (INCOM 2018), Bergamo, 11–13 June 2018. DOI: 10.1016/j.ifacol.2018.08.326.

Saadat

Cretin

Measurement systems for large aerospace components. Sensor Rev 2002; 22(3): 199–206.

A new method of precise orientation adjustment based on matrix similarity for large-scale component. Assembl Autom 2018; 38(2): 207–215.

Gai

Zhu

, et al. Locating error analysis for Cartesian positioner. Appl Mech Mater 2013; 419: 157–162.

Yan

Multi load-transmitting device based support layout optimization for large fuselage panels in digital assembly. Proc IMechE, Part C: J Mechanical Engineering Science 2015; 229(10): 1792–1804.

10.

Deng

Huang

, et al. On-line calibration and uncertainties evaluation of spherical joint positions on large aircraft component for zero-clearance posture alignment. Robot Comput Integr Manuf 2019; 56: 38–54.

11.

Eggert

Lorusso

Fisher

RB.

Estimating 3-D rigid body transformations: a comparison of four major algorithms. Mach Vis Appl 1997; 9: 272–290.

12.

Deng

Huang

. Uncertainties evaluation of coordinate transformation parameters in the large-scale measurement for aircraft assembly. Sensor Rev 2018; 38(4): 542–550.

13.

Wen

A self-adaptive alignment strategy for large components based on dynamic compliance center. Assembl Autom 2019; 39(2): 345–355.

14.

Liu

Zhu

Dong

, et al. An adaptive ball-head positioning visual servoing method for aircraft digital assembly. Assembl Autom 2019; 39(2): 287–296.

15.

Qiu

Jiang

A new principle and device for large aircraft components gaining accurate support by ball joint. J Zhejiang Univ Sci A 2011; 12(5): 405–414.

16.

Jiang

Zhang

A position-following device for aircraft digital assembly. J Zhejiang Univ 2013; 47(5): 775–781.

17.

Chu

Huang

Cabin posture adjustment method based on redundant constrained parallel mechanism. Assembl Autom 2020; 40(3): 377–386.

18.

Mason

MT.

Compliance and force control for computer controlled manipulators. IEEE Trans Syst Man Cyb 1982; 11(6): 418–432

19.

Whitney

Rourke

J. M

. Mechanical behavior and design equations for elastomer shear pad remote center compliances. J Dyn Sys Meas Control 1986; 108(3): 223–232.

20.

Luo

Meng

, et al. Design on hybrid force position control of large aircraft components posture alignment platform. J Zhejiang Univ 2015; 49(2): 265–274.

21.

Whitney

DE.

Force feedback control of manipulator fine motions. J Dyn Sys Meas Control 1977; 99(2): 91–97

22.

Salisbury

. Active stiffness control of a manipulator in Cartesian coordinates. In: 1980 19th IEEE conference on decision and control including the symposium on adaptive processes, Albuquerque, NM, 10–12 December 1980, pp.95–100. New York: IEEE.

23.

Hogan

Impedance control: an approach to manipulation: part II-implementation. J Dyn Sys Meas Control 1985; 107(1): 8–16.

24.

Raibert

Craig

JJ.

Hybrid position/force control of manipulators. J Dyn Sys Meas Control 1981; 103(2): 126–133.

25.

Chang

Zhang

, et al. The control algorithm of 7 DOF manipulator based on hybrid force and position algorithm. In: 2017 IEEE 7th annual international conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER), Honolulu, HI, 31 July–4 August 2017, pp.645–650. New York: IEEE.

26.

Wen

Zhang

, et al. Fuzzy identification and delay compensation based on the force/position control scheme of the 5-dof redundantly actuated parallel robot. Int J Fuzzy Syst 2017; 19: 124–140.

27.

Ding

Zhao

Dong

, et al. Adaptive neural network position/force decomposed control for constrained reconfigurable manipulator. In: 2015 IEEE international conference on mechatronics and automation (ICMA), Beijing, China, 2–5 August 2015, pp.1561–1566. New York: IEEE.