Title: Control of automatic assembly platform for a large unit based on equivalent parallel mechanism Suggested topic area: 3. Micro and Macro Assembly and Manufacturing Processes special session: Motion planning, fixturing, grasping and manipulation Name(s) of authors: Jinhua Zhang, Jun Hong , Zhigang Liu Affiliation: School of Mechanical Engineering, Xian Jiaotong University Full postal address: Xianning west road 28#, Xian, Shaanxi Province, China

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14 Νοε 2013 (πριν από 3 χρόνια και 6 μήνες)

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Title
:

Control

of
automatic assembly

platform for a large unit based on equivalent parallel
mechanism

Suggested topic area
:

3. Micro and Macro Assembly and Manufacturing Processes

special session
:

Motion planning, fixturing, grasping and manipulation

Name(s) of authors
:

Jinhua Zhang, Jun Hong
*
, Zhigang Liu

Affiliation
:

School of Mechanical Engineering, Xi

an Jiaotong University

Full postal address
:

Xianning west road 28#, Xi

an, Shaanxi
Province
, China

T
elephone
,

fax
:

86
-
29
-
83399515

E
-
mail address
:


Jhong@mail.xjtu.edu.cn

(* C
orresponding author
)
,

jjshua@mail.xjtu.edu.cn



Abstract:


In the large equipment, such as aircrafts and ships, etc, assembly processes are numerous and
complex

and in order to achieve the purpose of assembling and joining precisely, components with
large volumes and high masses need to adjust the orientation of six degrees of freedom during the
assembly process. Therefore, the multi
-
point location flexible tooli
ng system produced by
M.Torres Co. [1] is used widely in airplane assembly field. The flexible assembly machine tool for
the joining of large aircraft developed by Brötje
-
Automation Co. [2
-
4
] mainly employs the POGO
based on the modularization. Yinglin Ke
et al. [
5
] of Zhejiang University proposed a posture
alignment system for large subassembly parts based on 3
-
axis POGO.

For realizing

panel
automatic

pose
adjustment
,

an
equivalent parallel mechanism

based on
four t
hree
-
coordinate

precise

locator
s

is propo
sed in
this paper aiming at w
all panels

pose
adjustment

in
large
-
scale equipment
s a
ssembly process
. The
supporting stabilization

to panel is
improved through
serial
-
parallel

hybrid pattern in the
mechanism

with simple structure.
M
eanwhile, a spatial pose v
ector of panel is
defined;

a
calculation

method of panel pose based on
laser tracer and a trajectory planning method for panel smooth motion based on
quaternion

and
p
olynomial

are proposed.
F
inally, the
flexibility

and efficiency of this system are proved
th
rou
gh
physical
prototype

test analysis, the
posture aligning

of panel
which

is
2.2m*1.5m

150kg
can be
implemented using

the

physical
prototype
.



F
igure 1 is
structural graph

of the adjustment system which is designed in this paper.


F
igure 2 is the
actual physical
prototype
.



a










b


F
igure 3 is the posture
planning

trajectories.

Reference

[1]

M.torres Group.
Jigs and Assembly Lines
[EB/OL].

2009.

http://

www.mtorres.com/default.asp?
id=30&menu=02&idmenu=2&donde=&submenu=40&menues=3&apmenu=34
1
.

[2]

BRÖTJE
-
Automation

Inc..

Fuselage Assembly
,
"Best Fit Philosophy" for best
results
[EB/OL].2009.

http://www.claas
-
fertigungst
echnik.com/cft
-
ba/generator/cft
-
ba/en/applications/body/3
-
3
-
1
-
4/start,lang=en_UK.html
.

[3]

Wolf M,Eisenhauer F,Holtmeier G et al.
V
ersatile
A
daptable
H
olding
A
pparatus for
H
olding
L
arge format
W
orkpieces and
M
ethod
:US,US6775897 B2[P/OL].2004
-
4
-
17.

http://www.google.com/patents?id=CFUQAAAAEBAJ&printsec=abstract&zoom=4&sourc
e=gbs_overview_r&cad=0#v=onepage&q&f=false

[4]

N.Hazlehurst

L,C.Philpott B,N.Buttrick J et al
.

Indexing Device for Manufacturing System
for Aircraft Structures and Other Large Structures
:US,US7574933 B2[P/OL].2009
-
8
-
18.

http://www.google.com/patents?id=4r_JAAAAEBAJ&printsec=abstract&zoom=4&source=
gbs_overview_r&cad=0#v=onepage&q&f=false

[5]

Zhang Bin

Fang Qiang

Ke Yinglin.

Optimal Time Trajectory Planning

Method for a Kind
of Posture Aligning System of Large Rigid Bodies

[J].

CHINESE JOU
RNAL OF
MECHANICAL ENGINEERING

2008

44(8):248
-
252.