Error Analysis of Assembly Linkage of Transport Jig for Large Aircraft Parts

Aiming at the assembly accuracy of a large aircraft transport jig, the effect of component error and the error of work-piece surface on the work-piece position and orientation in the 3-2-1 fixturing scheme is studied with the object pose space description method. The error mapping model between the connecting part of the front frame rack and its support base is modeled using the homogeneous transformation matrix(HTM) method. The probabilistic error is simulated using the Monte Carlo method. The measurement experiment was conducted by the laser tracker to verify the effectiveness of the approach, and the approach has been successfully applied to the production of transport jig.

Finite Series Representation of Rician Shadowed Channel with Integral Fading Parameter and the Associated Exact Performance Analysis

With the deployment of small cells and device to device communications in future heterogeneous networks,in many situations we would encounter mobile radio channels with partly blocked line of sight component,which are well modeled by the Rician shadowed(RS) fading channel.In this paper,by the usage of Kummer transformation,a simplified representation of the RS fading channel with integral fading parameter is given.It is a finite series representation involving only exponential function and low order polynomials.This allows engineers not only the closed-form expressions for exact performance analysis over RS fading channel,but also the insights on the system design tactics.

Error analysis and optimization of a 3-degree of freedom translational Parallel Kinematic Machine

In this paper, error modeling and analysis of a typical 3-degree of freedom translational Parallel Kine- matic Machine is presented. This mechanism provides translational motion along the Cartesian X-, Y- and Z- axes. It consists of three limbs each having an arm and forearm with prismatic-revolute-revolute-revolute joints. The moving or tool platform maintains same orientation in the entire workspace due to its joint arrangement. From inverse kinematics, the joint angles for a given position of tool platform necessary for the error modeling and analysis are obtained. Error modeling is done based on the differentiation of the inverse kinematic equations. Variation of pose errors along X, Y and Z directions for a set of dimensions of the parallel kinematic machine is presented. A non-dimensional performance index, namely, global error transformation index is used to study the influence of dimensions and its corresponding global maximum pose error is reported. An attempt is made to find the optimal dimensions of the Parallel Kinematic Machine using Genetic Algorithms in MATLAB. The methodology presented and the results obtained are useful for predicting the performance capability of the Parallel Kinematic Machine under study.

A Numerical Error Modeling Method for Parallel Kinematic Machines and Its Applications

Error model is the basis for accuracy-related computations and analyses for parallel kinematic machines（PKMs）.Traditional error modeling methods are usually based on differentiation of kinematic solutions,but the solving process is often complex and has limitations for certain specialized PKMs.A concise numerical error modeling method with the inverse kinematic solution as its only requirement is presented in this paper.To avoid complex Jacobian matrix computations,the difference matrix that can be quickly calculated by kinematic solutions was used to replace the differential matrix.The quasi-Newton method,which has high speed and high precision,was introduced to solve the numerical forward kinematic problem.To verify the efficiency of this numerical error modeling method,three applications in error transformation matrix（ETM） modeling,error analysis,and kinematic calibration were simulated on a 4RRR PKM.A comparison with the results obtained by the traditional method shows that the numerical method is accurate,convenient,and has lower requirements and wider applicability,especially for certain specialized and manufactured PKMs.