机身装配中自动定位器调姿算法研究

Research on Positioning Algorithm of Automatic Positioner in Fuselage Assembly

以某型机机身桶段自动对合为研究对象,提出了基于西门子simotion D的定位器运动控制系统,并研究了调姿算法实现过程,机身下半桶段先做平移变换使中心与理论中心重合,然后分别绕中心做三个自由度旋转使实际坐标轴与理论坐标轴重合,实现机身桶段自动调姿对合。

The automatic matching of the bucket section of a certain type of machine is taken as the research object, and the motion control system of the positioner based on Siemens simotion D is proposed. The realization process of the attitude adjustment algorithm is studied. The lower half of the fuselage is firstly translated to make the center coincide with the theoretical center, and then three degree-of-freedom are rotated around the center to make he actual coordinate axis coincide with the theoretical coordinate axis to achieve the posture adjustment process. After the posture is completed,the vertical movement can complete the positioning of the barrel segment of the fuselage.