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A calibration method of redundant actuated parallel mechanism for posture adjustment

Wenmin Chu (College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China)
Xiang Huang (College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China)
Shuanggao Li (College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 8 April 2021

Issue publication date: 19 August 2021

153

Abstract

Purpose

With the improvement of modern aircraft requirements for safety, long life and economy, higher quality aircraft assembly is needed. However, due to the manufacturing and assembly errors of the posture adjustment mechanism (PAM) used in the digital assembly of aircraft large component (ALC), the posture alignment accuracy of ALC is difficult to be guaranteed, and the posture adjustment stress is easy to be generated. Aiming at these problems, this paper aims to propose a calibration method of redundant actuated parallel mechanism (RAPM) for posture adjustment.

Design/methodology/approach

First, the kinematics model of the PAM is established, and the influence of the coupling relationship between the axes of the numerical control locators (NCL) is analyzed. Second, the calibration method based on force closed-loop feedback is used to calibrate each branch chain (BC) of the PAM, and the solution of kinematic parameters is optimized by Random Sample Consensus (RANSAC). Third, the uncertainty of kinematic calibration is analyzed by Monte Carlo method. Finally, a simulated posture adjustment system was built to calibrate the kinematics parameters of PAM, and the posture adjustment experiment was carried out according to the calibration results.

Findings

The experiment results show that the proposed calibration method can significantly improve the posture adjustment accuracy and greatly reduce the posture adjustment stress.

Originality/value

In this paper, a calibration method based on force feedback is proposed to avoid the deformation of NCL and bracket caused by redundant driving during the calibration process, and RANSAC method is used to reduce the influence of large random error on the calibration accuracy.

Keywords

Citation

Chu, W., Huang, X. and Li, S. (2021), "A calibration method of redundant actuated parallel mechanism for posture adjustment", Industrial Robot, Vol. 48 No. 4, pp. 494-509. https://doi.org/10.1108/IR-11-2020-0251

Publisher

:

Emerald Publishing Limited

Copyright © 2021, Emerald Publishing Limited

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