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Self-calibration method of NC positioner for posture adjustment

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Abstract

The posture adjustment mechanism (PAM) for large components of aircraft is composed of several numerical control positioners (NCPs). This paper proposes a self-calibration method of positioner to guarantee the accuracy of posture alignment. Firstly, the redundant axis of the PAM is controlled by force feedback to obtain additional joint trajectory information, and the ball joint center (BJC) position is calculated by the spatial circle fitting method. Secondly, the coordinates of the BJC in the base coordinate system and the positioner coordinate system are registered to obtain the position and posture parameters between the positioners. Thirdly, the main factors affecting the calibration accuracy are studied, and the uncertainty of positioner calibration is analyzed by Monte Carlo simulation. Finally, a simulated posture adjustment system of large components is built, and two methods are used to calibrate the positioner. The posture adjustment experiment results show that compared with the conventional calibration method, the proposed calibration method can improve the posture alignment accuracy and significantly reduce the interaction force between the positioners.

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Authors and Affiliations

  1. College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, People’s Republic of China

    Wenmin Chu & Xiang Huang

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  1. Wenmin Chu
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  2. Xiang Huang
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Correspondence to Xiang Huang.

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Cite this article

Chu, W., Huang, X. Self-calibration method of NC positioner for posture adjustment. Int J Adv Manuf Technol 119, 7669–7683 (2022). https://doi.org/10.1007/s00170-021-08514-0

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