Three-Point Locating Inverse Solution Algorithm and Kinematics Simulation of 6-DOF Flexible Assembly Mechanism

FANG Chunping; ZHAO Jinze; ZHANG Jie; GUO Anru; LI Weidong

doi:10.16080/j.issn1671–833x.2018.22.049

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Three-Point Locating Inverse Solution Algorithm and Kinematics Simulation of 6-DOF Flexible Assembly Mechanism

更新时间：2025-10-30

- Three-Point Locating Inverse Solution Algorithm and Kinematics Simulation of 6-DOF Flexible Assembly Mechanism
- Aeronautical Manufacturing Technology Vol. 61, Issue 22, Pages: 49-53(2018)
- 作者机构：
  
  1. 航天材料及工艺研究所,北京,100076
  2. 北京航空航天大学机械工程及自动化学院,北京,100191
- 作者简介：
- 基金信息：
- DOI：10.16080/j.issn1671–833x.2018.22.049
  CLC：
- Published：2018
- 稿件说明：
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方春平1，赵金泽1，张杰1，郭安儒1，李卫东2. 六自由度柔性装配机构的三点定位反解算法与运动仿真[J]. 航空制造技术, 2018, 61(22): 49-53.

FANG Chunping1, ZHAO Jinze1, ZHANG Jie1, GUO Anru1, LI Weidong2. Three-Point Locating Inverse Solution Algorithm and Kinematics Simulation of 6-DOF Flexible Assembly Mechanism. Aeronautical Manufacturing Technology, 2018, 61(22): 49-53.
方春平1，赵金泽1，张杰1，郭安儒1，李卫东2. 六自由度柔性装配机构的三点定位反解算法与运动仿真[J]. 航空制造技术, 2018, 61(22): 49-53. DOI： 10.16080/j.issn1671–833x.2018.22.049.

FANG Chunping1, ZHAO Jinze1, ZHANG Jie1, GUO Anru1, LI Weidong2. Three-Point Locating Inverse Solution Algorithm and Kinematics Simulation of 6-DOF Flexible Assembly Mechanism. Aeronautical Manufacturing Technology, 2018, 61(22): 49-53. DOI： 10.16080/j.issn1671–833x.2018.22.049.

摘要

为提高大型复合材料蒙皮部件装配效率，提出了一种基于三点定位的六自由度柔性装配系统运动反解算法。首先建立了柔性装配机构的运动模型，然后通过定位和跟踪装配部件上3 个不共线的测量点始末位置坐标，利用该算法来求解各个驱动关节的运动量。通过ADAMS 软件构建柔性装配机构虚拟样机模型进行仿真分析，发现仿真结果与理论结果一致，验证了算法的正确性。最后，通过仿真获得了柔性定位器的驱动轨迹，结果发现该算法能保证装配部件运动平稳、准确，为调姿机构的精确控制提供技术基础。

Abstract

In order to improve the assembly efficiency of large composite skin components

a kinematics inverse solution algorithm of 6-DOF flexible assembly mechanism based on three-point locating principle was put forward. Firstly

a kinematics model of the flexible assembly mechanism is established. And then three non-collinear measuring points coordinates on assembly parts were obtained by locating and tracking. In addition

the displacement of each driving joint was calculated by this algorithm. The simulation analysis of the virtual prototype model of flexible assembly mechanism is constructed by ADAMS software. It is found that the simulation results are in great agreement with the theoretical results

and the correctness of the algorithm is verified. Finally

the driving trajectory of the flexible locator is obtained through simulation. The results show that the algorithm was capable of keeping the assembly components move smoothly and precisely

which provided the technological foundation of accurate control for posture alignment mechanism.

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