An aircraft panel pose and shape regulation method based on a six-degree-of-freedom locator

Abstract

The present invention provides a method for adjusting the pose and shape of an aircraft panel based on a six-degree-of-freedom locator, and the steps are as follows: Step 1, define the coordinate systems in the assembly system through a digital measurement device and determine the transformation relationship between the coordinate systems to establish the kinematic model of the entire assembly system; Step 2, based on the kinematic model of the assembly system, use master-slave cooperative motion to realize the pose adjustment of the panel by multiple locators; Step 3, perform shape control on the clamping area of the panel, establish the transformation relationship between the shape deviation of the panel and the movement amounts of each locator, characterize the shape deviation of the panel by the shape control points of the inner surface, and make the outer shape of the panel reach the shape accuracy range through the movement of the contact points of the outer surface fixture; The method of the present invention is scientific and has good processability, and has broad popularization and application value.

Description

Technical Field

[0001] The present invention provides a method for regulating the pose and shape of an aircraft panel based on a six-degree-of-freedom positioner, which relates to a flexible tooling system for composite panel assembly driven by a six-degree-of-freedom parallel mechanism and belongs to the field of mechanical engineering / aircraft assembly. Background Art

[0002] Aircraft panels are the main load-bearing structural components that constitute the aerodynamic shape of an aircraft. Their assembly quality is directly related to the aerodynamic performance and service life of the aircraft. During their assembly process, high-precision requirements for both pose and shape need to be satisfied simultaneously. To meet the requirements of lightweight, long service life, and high reliability, the new generation of aircraft fuselage structures widely adopt integral panel structural components, which are mostly large-size, weakly rigid thin-walled structures with significant gravity deformation and relatively poor manufacturing accuracy. It is necessary to use multiple positioners to clamp the panel simultaneously for pose and shape adjustment, which requires a relatively high regulation ability of the positioners and the cooperative motion accuracy among multiple positioners.

[0003] Currently, aviation manufacturers mostly use three-degree-of-freedom positioners in panel assembly tooling. The end of each positioner is connected to the panel to be assembled through a ball hinge head. Since the three-degree-of-freedom positioner can only achieve active translational driving in the X, Y, and Z directions, its ability to regulate the shape of the aircraft panel is limited, and it is difficult to meet the complex deformation regulation requirements of large-size panels. Moreover, the passive rotation of the end ball hinge head will introduce additional driving errors, which easily leads to uncoordinated movement of multiple positioners and thus pulling and damaging the panel. Therefore, there is an urgent need for new aircraft panel pose and shape regulation equipment and methods. Six-degree-of-freedom positioners (such as serial industrial robots, six-legged parallel mechanisms, etc.) can achieve full active driving of translational motion in the X, Y, and Z directions and rotational motion around the X, Y, and Z axes, with stronger shape regulation ability and higher cooperative motion accuracy. Therefore, they are more suitable for the assembly of large-size aircraft panels. However, there is currently a lack of a process method for regulating the pose and shape of large-size panels clamped by multiple six-degree-of-freedom positioners.

[0004] For the panel assembly tooling including multiple six-degree-of-freedom positioners, the present invention defines the coordinate systems in the tooling and determines the transformation relationship between the coordinate systems through a digital measurement device, and establishes a global kinematic model; adopts the master-slave cooperative motion mode to realize the cooperative motion of multiple six-degree-of-freedom positioners to adjust the panel pose; and realizes the overall shape control of the panel by establishing the transformation relationship between the key feature deviations of the outer shape of the panel clamping area and the movement amount of the positioners. The present invention is applicable to the assembly of large-size aircraft panels and can realize the rapid and accurate positioning and shape correction of large-size aircraft panels by multiple six-degree-of-freedom positioners. Summary of the Invention

[0005] Aiming at the technical problems existing in the application of six-degree-of-freedom positioners in aircraft panel assembly, the present invention provides a method for regulating the pose and shape of aircraft panels based on six-degree-of-freedom positioners. First, a digital measurement device is used to define the coordinate systems in the assembly system and determine the transformation relationships between the coordinate systems, thereby establishing a global kinematic model of the assembly system. Secondly, the master-slave cooperative motion mode is adopted to achieve the cooperative motion of multiple six-degree-of-freedom positioners for high-precision panel pose adjustment. Finally, the shape control of the panel is completed by establishing the transformation relationship between the key feature deviations of the outer shape of the panel clamping area and the motion amount of the positioner, so that the aircraft panel reaches a high outer shape accuracy.

[0006] To solve the above technical problems, the present invention adopts the following technical solutions:

[0007] A method for regulating the pose and shape of aircraft panels based on six-degree-of-freedom positioners according to the present invention is as follows:

[0008] Step 1: Use a digital measurement device to define the coordinate systems in the assembly system and determine the transformation relationships between the coordinate systems, and establish a kinematic model of the entire assembly system, which is specifically defined as follows:

[0009] S W : World coordinate system;

[0010] S LT : Laser tracker coordinate system;

[0011] The base coordinate system of the i-th positioner;

[0012] The flange center coordinate system of the i-th positioner;

[0013] The fixture contact point coordinate system of the i-th positioner;

[0014] where i = {1, 2,..., N}, and N is the number of positioners.

[0015] The kinematic equations satisfied by the above coordinate systems are as follows:

[0016]

[0017] In the formula represents the homogeneous transformation matrix of the coordinate system S B relative to the coordinate system S A , and are the rotation matrix and the translation vector respectively, that is represents the base coordinate system of the i-th positioner relative to the world coordinate system S W homogeneous transformation matrix; Denote the world coordinate system as S W The homogeneous transformation matrix relative to the laser tracker coordinate system S LT ; Denote the fixture contact point coordinate system of the i-th locator The homogeneous transformation matrix relative to the laser tracker coordinate system S LT ; Denote the fixture contact point coordinate system of the i-th locator The homogeneous transformation matrix relative to the flange center coordinate system of the i-th locator ; Denote the flange center coordinate system of the i-th locator The homogeneous transformation matrix relative to the base coordinate system of the i-th locator ; To solve the unknowns in the equation and Introduce the relative motion of the locator. For the i-th locator, the flange center point makes a relative motion, moving from the initial pose to the target pose satisfying the following relationship:

[0018]

[0019]

[0020] where is an unknown constant, and the homogeneous transformation matrix of the flange center coordinate system of the i-th locator after relative motion relative to the flange center coordinate system of the i-th locator before relative motion ; and the homogeneous transformation matrix of the fixture contact point coordinate system of the i-th locator after relative motion relative to the fixture contact point coordinate system of the i-th locator before relative motion ; are known quantities, so the relative motion equation can be established as follows: ;

[0021]

[0022] Express the relevant quantities in the equation in the form of a block matrix to obtain the following expression:

[0023]

[0024] Then the aforementioned relative motion equation can be expressed as:

[0025]

[0026] This motion equation can be expressed in the form of the following linear equations:

[0027] Mx = y

[0028] Wherein:

[0029]

[0030]

[0031] In the formula: a ij is the element at the i-th row and j-th column of matrix A, t Ai is the i-th element of vector t A , and E is the identity matrix. To solve the unknown Introduce multiple non-pure translation and linearly independent relative motions, and construct the following equation:

[0032]

[0033] Solving this equation can obtain Furthermore, can solve Thereby establishing the global kinematic model of the assembly system.

[0034] Step 2: Based on the kinematic model of the assembly system, use master-slave cooperative motion to realize the pose adjustment of the wall panel by multiple locators. Select the master locator, and the master locator is used as the reference for the motion of other slave locators. Each slave locator follows the master locator's motion, and the coordinate transformation relationship between the fixture contact points of all locators remains constant. And determine the coordinate transformation relationship between the master locator and the slave locators before the pose adjustment as follows:

[0035]

[0036]

[0037] Wherein, represents the homogeneous transformation matrix of the base coordinate system S B M of the master locator relative to the base coordinate system of the i-th slave locator; represents the homogeneous transformation matrix of the base coordinate system of the i-th slave locator relative to the world coordinate system S W ; represents the homogeneous transformation matrix of the base coordinate system S B M of the master locator relative to the world coordinate system S W ; represents the homogeneous transformation matrix of the flange center coordinate system S F M of the master locator relative to the flange center coordinate system of the i-th slave locator; represents the flange center coordinate system of the i-th slave locator relative to the base coordinate system of the i-th slave locator The homogeneous transformation matrix of ; The flange center coordinate system S represents the main positioner F M Relative to the base coordinate system S of the master positioner B M The homogeneous transformation matrix of .

[0038] The coordinate system of the fixture contact point of the i-th slave locator The relative motion of the fixture can be determined by the main locator contact point coordinate system S CP M The relative motion description of the master positioner fixture is obtained in the established kinematic model. CP M Relative to the flange center coordinate system S F M The homogeneous transformation matrix Calculate the contact point coordinate system S of the main locator CP M The relative movement of the flange center when moving from the current position to the target position. At this time, the drive amount of the master positioner and each slave positioner can be calculated based on the deviation between the actual position and the theoretical position of the wall panel. During the coordinated movement, the relative position between the coordinate systems of the contact points of each fixture is kept unchanged to avoid overstress on the wall panel during the adjustment process.

[0039] Step three, perform shape control on the clamping area of ​​the wall panel, establish the transformation relationship between the shape deviation of the wall panel and the movement amount of each locator, use the shape control point of the inner surface to characterize the shape deviation of the wall panel, and make the wall panel shape reach the shape accuracy range through the movement of the contact point of the outer surface fixture.

[0040] Internal surface shape control point SC i Relative to the corresponding i-th positioner flange center coordinate system The homogeneous transformation matrix have:

[0041]

[0042] in SC is the inner surface shape control point i Relative to the coordinate system of the i-th locator fixture contact point The homogeneous transformation matrix of .

[0043] Establish the error relationship between the actual position of the inner surface shape control point and the target position, and then convert it into the flange center adjustment amount, that is, the target position of the flange center coordinate system of the i-th positioner The actual position relative to the center coordinate system of the i-th positioner flange The homogeneous transformation matrix Then there is

[0044]

[0045] Among them represents the target position SC of the shape control point i T relative to the actual position SC i The homogeneous transformation matrix of A

[0046] Shape control is carried out in an iterative manner until the position errors of each shape control point converge within the tolerance range

[0047] The present invention proposes a method for regulating the pose and shape of large-sized wall panels. Its advantages and effects are as follows: Compared with the prior art, the present invention is aimed at clamping the wall panel with multiple six-degree-of-freedom positioners for high-precision pose and shape regulation, establishing a global kinematic model including the wall panel and multiple six-degree-of-freedom positioners. Through the kinematic model, the driving amounts of each positioner can be accurately solved, laying a theoretical foundation for high-precision pose adjustment and shape correction; the master-slave cooperative motion can be used to achieve high-precision cooperative control of multiple six-degree-of-freedom positioners, avoiding the problem of positioner pulling during the pose adjustment of large-sized wall panels, and at the same time achieving high-precision regulation of the wall panel pose; based on the six-way fully active driving ability of the six-degree-of-freedom positioner, by establishing the transformation relationship between the key feature deviations of the wall panel shape and the motion amounts of each positioner, the wall panel shape can be accurately adjusted. The present invention can meet the high-precision regulation of the pose and shape of large-sized aircraft wall panels, significantly improving the assembly quality of large-sized aircraft wall panels, and having good application prospects in the field of aircraft assembly Description of the Drawings

[0048] Figure 1 is the flowchart of the method of the present invention

[0049] Figure 2 is the schematic diagram for constructing the kinematic model

[0050] Figure 3 is the schematic diagram of the relative motion transformation relationship

[0051] Figure 4 is the schematic diagram of pose adjustment by master-slave cooperative motion

[0052] Figure 5 is the schematic diagram of shape regulation

[0053] Figure 6a 、 Figure 6b is the result diagram of the wall panel pose regulation effect of the method of the present invention

[0054] Figure 7 is the result diagram of the wall panel shape regulation effect of the method of the present invention

[0055] The symbols and codes in the figure are explained as follows

[0056] S W : World coordinate system

[0057] SLT : Coordinate system of laser tracker;

[0058] Base coordinate system of the i-th locator;

[0059] Flange center coordinate system of the i-th locator;

[0060] Fixture contact point coordinate system of the i-th locator;

[0061] Flange center coordinate system of the i-th locator before relative movement;

[0062] Fixture contact point coordinate system of the i-th locator before relative movement;

[0063] Flange center coordinate system of the i-th locator after relative movement;

[0064] Fixture contact point coordinate system of the i-th locator after relative movement;

[0065] S B M : Base coordinate system of the main locator;

[0066] S F M : Flange center coordinate system of the main locator;

[0067] S CP M : Fixture contact point coordinate system of the main locator;

[0068] Base coordinate system of the i-th slave locator;

[0069] Flange center coordinate system of the i-th slave locator;

[0070] Fixture contact point coordinate system of the i-th slave locator;

[0071] S P A : Actual pose coordinate system of the panel;

[0072] S P T : Theoretical pose coordinate system of the panel;

[0073] Actual position of the flange center coordinate system of the i-th locator;

[0074] Actual position of the fixture contact point coordinate system of the i-th locator;

[0075] The target position of the center coordinate system of the i-th locator flange;

[0076] The target position of the contact point coordinate system of the i-th locator fixture;

[0077] SC i A: The actual position of the shape control point;

[0078] SC i T: The target position of the shape control point;

[0079] Any coordinate system S B Relative to the coordinate system S A The homogeneous transformation matrix. Detailed implementation manners

[0080] The present invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0081] A method for regulating the pose and shape of an aircraft panel based on a six-degree-of-freedom locator according to the present invention comprises the following steps: As Figure 1 shown, the present invention relates to a method for regulating the pose and shape of an aircraft panel based on a six-degree-of-freedom locator. Step 1, define each coordinate system in the six-degree-of-freedom locator assembly system through a digital measuring device, and establish a kinematic model of the entire assembly system; Step 2, based on the kinematic model of the assembly system, adopt master-slave cooperative motion to realize the pose adjustment of the panel by multiple locators; Step 3, perform deformation control on the clamping area of the panel, establish the transformation relationship between the shape deviation of the panel and the movement amounts of each locator, characterize the shape deviation of the panel by means of the shape control points on the inner surface, and make the outer shape of the panel reach the shape accuracy range through the movement of the fixture contact points on the outer surface.

[0082] A method for regulating the pose and shape of an aircraft panel based on a six-degree-of-freedom locator according to the present invention comprises the following specific implementation steps:

[0083] Step 1, define each coordinate system in the tooling through a digital measuring device and determine the transformation relationship between the coordinate systems, and establish a kinematic model of the entire assembly system. The definition of the coordinate systems is as Figure 2 shown. The black solid arrows in the figure represent the three coordinate axes of the coordinate system, and the arrow connection lines between the coordinate systems represent the relative transformation relationship between the coordinate systems, that is, the homogeneous transformation matrix. The specific definition is as follows:

[0084] S W : World coordinate system;

[0085] S LT : Laser tracker coordinate system;

[0086] The base coordinate system of the i-th locator;

[0087] The flange center coordinate system of the i-th locator;

[0088] The fixture contact point coordinate system of the i-th locator;

[0089] where i = {1, 2,..., N}, and N is the number of locators.

[0090] The kinematic equations satisfied by the above coordinate systems are as follows:

[0091]

[0092] In the formula represents the homogeneous transformation matrix of coordinate system S B relative to coordinate system S A , and are the rotation matrix and the translation vector respectively. That is represents the homogeneous transformation matrix of the base coordinate system of the i-th locator relative to the world coordinate system S W ; represents the homogeneous transformation matrix of the world coordinate system S W relative to the coordinate system of the laser tracker S LT ; represents the homogeneous transformation matrix of the fixture contact point coordinate system of the i-th locator relative to the coordinate system of the laser tracker S LT ; represents the homogeneous transformation matrix of the fixture contact point coordinate system of the i-th locator relative to the flange center coordinate system of the i-th locator ; represents the homogeneous transformation matrix of the flange center coordinate system of the i-th locator relative to the base coordinate system of the i-th locator . To solve the unknowns in the equation and , the relative motion of the locator is introduced. As Figure 3 shown, for the i-th locator, the center point of its flange makes a relative motion, and the relationship satisfied by moving from the initial pose to the target pose is as follows:

[0093]

[0094]

[0095] where is an unknown constant, and the flange center coordinate system of the i-th locator after relative motion The homogeneous transformation matrix of the flange center coordinate system before relative motion with respect to the i-th locator and the homogeneous transformation matrix of the fixture contact point coordinate system after relative motion with respect to the i-th locator with respect to the fixture contact point coordinate system before relative motion with respect to the i-th locator are known quantities. Therefore, the relative motion equation can be established as follows:

[0096]

[0097] Expressing the relevant quantities in the equation in the form of a block matrix, the following expression is obtained:

[0098]

[0099] Then the aforementioned relative motion equation can be expressed as:

[0100]

[0101] This motion equation can be expressed in the form of the following linear equation system:

[0102] Mx = y

[0103] where:

[0104]

[0105]

[0106] In the formula: a ij is the element in the i-th row and j-th column of matrix A, t Ai is the i-th element of vector t A , and E is the identity matrix. To solve for the unknown quantity Introduce multiple non-pure translation and linearly independent relative motions to construct the following equation:

[0107]

[0108] Solving this equation can obtain Furthermore, can be solved, thus establishing the kinematic model of the assembly system.

[0109] Step 2: Based on the kinematic model of the assembly system, use master-slave cooperative motion to realize the pose adjustment of the multi-locators to the panel. As Figure 4As shown, select the main locator. The main locator serves as a reference for the movement of other slave locators. Each slave locator follows the movement of the main locator. The coordinate transformation relationship of the fixture contact points between all locators remains constant, and the coordinate system transformation relationship between the main locator and the slave locators is determined before the posture adjustment as follows:

[0110]

[0111]

[0112] Among them, represents the homogeneous transformation matrix of the base coordinate system S of the main locator B M relative to the base coordinate system of the i-th slave locator; represents the homogeneous transformation matrix of the base coordinate system of the i-th slave locator relative to the world coordinate system S W ; represents the homogeneous transformation matrix of the base coordinate system S of the main locator B M relative to the world coordinate system S W ; represents the homogeneous transformation matrix of the flange center coordinate system S of the main locator F M relative to the flange center coordinate system of the i-th slave locator; represents the homogeneous transformation matrix of the flange center coordinate system of the i-th slave locator relative to the base coordinate system of the i-th slave locator; represents the homogeneous transformation matrix of the flange center coordinate system S of the main locator F M relative to the base coordinate system S of the main locator B M ;

[0113] The relative movement of the fixture contact point coordinate system of the i-th slave locator can all be described by the relative movement of the fixture contact point coordinate system S of the main locator CP M . In the established kinematic model, obtain the homogeneous transformation matrix CP M of the fixture contact point coordinate system S of the main locator relative to the flange center coordinate system S F M and calculate the fixture contact point coordinate system S of the main locator CP M ​When moving from the current position to the target position, the relative movement of the flange center. At this time, according to the deviation between the actual pose and the theoretical pose of the panel, the driving amounts of the main locator and each slave locator can be calculated. During the collaborative movement, the relative pose between the coordinate systems of each fixture contact point is kept unchanged to avoid overstress on the panel during the pose adjustment process. The pose adjustment is carried out in an iterative manner until the pose deviation of the panel converges within the tolerance range.

[0114] Step 3: Perform deformation control on the clamped area of the panel, establish the transformation relationship between the shape deviation of the panel and the movement amounts of each locator, characterize the shape deviation of the panel by the shape control points on the inner surface, and make the outer shape of the panel reach the shape accuracy range through the movement of the fixture contact points on the outer surface.

[0115] As Figure 5 shown, the homogeneous transformation matrix i of the shape control point SC on the inner surface relative to the flange center coordinate system of the corresponding i-th locator is:

[0116]

[0117] where is the homogeneous transformation matrix of the shape control point SC i on the inner surface relative to the fixture contact point coordinate system of the i-th locator.

[0118] Establish the error relationship between the actual position and the target position of the shape control point on the inner surface, and then convert it into the adjustment amount of the flange center, that is, the homogeneous transformation matrix of the target position of the flange center coordinate system of the i-th locator relative to the actual position of the flange center coordinate system of the i-th locator, then there is

[0119]

[0120] where represents the homogeneous transformation matrix of the target position SC i T of the shape control point relative to the actual position SC i A.

[0121] The deformation control is carried out in an iterative manner until the position errors of all shape control points converge within the tolerance range.

[0122] For the aircraft panel assembly tooling with six six-degree-of-freedom locators, using the method of the present invention, obtain the homogeneous transformation matrix of the coordinate system of the fixture contact point of each locator relative to the flange center coordinate system ​ respectively as follows:

[0123]

[0124]

[0125]

[0126]

[0127]

[0128]

[0129] Figure 6a and Figure 6b represent the regulation effect of the method of the present invention on the pose of the aircraft panel. Figure 6a In [the figure], the solid line represents the position deviation along the X-axis direction, the dashed line represents the position deviation along the Y-axis direction, and the dotted line represents the position deviation along the Z-axis direction. After two iterations, they all almost converge to zero; Figure 6b In [the figure], the solid line represents the direction deviation along the X-axis direction, the dashed line represents the direction deviation along the Y-axis direction, and the dotted line represents the direction deviation along the Z-axis direction. After two iterations, they all almost converge to zero; Figure 6a and Figure 6b illustrate that the method of the present invention has a good regulation effect on the pose of the aircraft panel.

[0130] Figure 7 represent the regulation effect of this method on the shape of the aircraft panel. In the figure, the black columns represent the position errors of each shape control point SC i before regulation, and the white columns represent the position errors of each shape control point SC i after regulation using the method of the present invention. After regulation, the position errors of each shape control point have decreased significantly. Figure 7 illustrate that this method has a good regulation effect on the shape of the aircraft panel.

[0131] By using the method of the present invention, high-precision pose adjustment and shape control of the aircraft panel can be achieved by multiple six-degree-of-freedom positioners. A global kinematic model including the panel and multiple six-degree-of-freedom positioners is established. Through the kinematic model, the driving amounts of each positioner can be accurately solved, laying a theoretical foundation for high-precision pose adjustment and shape correction. High-precision cooperative control of multiple six-degree-of-freedom positioners is achieved by using master-slave cooperative motion, avoiding the problem of positioner pulling during the pose adjustment of large-sized panels and realizing high-precision regulation of the panel pose. Based on the six-way fully active driving ability of the six-degree-of-freedom positioner, by establishing the transformation relationship between the key feature deviations of the panel shape and the motion amounts of each positioner, the panel shape can be accurately adjusted. The present invention can achieve higher pose adjustment accuracy and stronger shape control ability for large-sized aircraft panels, significantly improving the assembly quality of large-sized aircraft panels.

[0132] The content not described in detail belongs to the prior art well-known to those skilled in the art.

Claims

1. A method for regulating the pose and shape of an aircraft panel based on a six-degree-of-freedom locator, characterized in that, The steps are as follows: Step 1: Define the coordinate systems in the assembly system through a digital measurement device and determine the transformation relationship between the coordinate systems to establish the kinematic model of the entire assembly system. The specific definitions are as follows: S W : World coordinate system; S LT : Coordinate system of laser tracker; Base coordinate system of the i-th locator; Flange center coordinate system of the i-th locator; Fixture contact point coordinate system of the i-th locator; where i = {1, 2,..., N}, and N is the number of locators; The kinematic equations satisfied by the above coordinate systems are as follows: In the formula represents the coordinate system S B relative to the coordinate system S A homogeneous transformation matrix of, and are the rotation matrix and the translation vector respectively, that is represents the base coordinate system of the i-th locator relative to the world coordinate system S W homogeneous transformation matrix of; represents the world coordinate system S W relative to the laser tracker coordinate system S LT homogeneous transformation matrix of; represents the fixture contact point coordinate system of the i-th locator relative to the laser tracker coordinate system S LT homogeneous transformation matrix of; represents the fixture contact point coordinate system of the i-th locator relative to the flange center coordinate system of the i-th locator homogeneous transformation matrix of; represents the flange center coordinate system of the i-th locator relative to the base coordinate system of the i-th locator homogeneous transformation matrix of; In order to solve the unknowns in the equation and introduce the relative motion of the locator; For the i-th locator, its flange center point makes a relative motion, moving from the initial pose to the target pose to satisfy the following relationship: Among them, is an unknown constant, and the flange center coordinate system after the relative movement of the i-th locator relative to the flange center coordinate system before the relative movement of the i-th locator homogeneous transformation matrix and the coordinate system of the fixture contact point after the relative movement of the i-th locator relative to the coordinate system of the fixture contact point before the relative movement of the i-th locator homogeneous transformation matrix are known quantities. Therefore, the relative motion equation is established as follows: Express the relevant quantities in the equation in the form of a block matrix to obtain the following expression: Then the aforementioned relative motion equation is expressed as: This motion equation is expressed in the form of the following linear equations: Mx = y where: Where: a ij is the element in the i-th row and j-th column of matrix A, t Ai is the i-th element of vector t A , E is the identity matrix; To solve the unknown Introduce multiple non-pure translational and linearly independent relative motions to construct the following equation: Solve the equation to obtain Solve further Thus, a global kinematic model of the assembly system is established; Step 2: Based on the kinematic model of the assembly system, use master-slave cooperative motion to achieve the pose adjustment of the panel by multiple locators; select the master locator, which serves as the reference for the movement of other slave locators. Each slave locator follows the master locator's movement, and the coordinate system transformation relationship between the fixture contact points among all locators remains constant. Before the pose adjustment starts, determine the coordinate system transformation relationship between the master locator and the slave locators as follows: Among them, represents the base coordinate system S of the master locator BM with respect to the base coordinate system of the i-th slave locator homogeneous transformation matrix; represents the base coordinate system of the i-th slave locator with respect to the world coordinate system S W homogeneous transformation matrix; represents the base coordinate system S of the master locator BM with respect to the world coordinate system S W homogeneous transformation matrix; represents the flange center coordinate system S of the master locator FM with respect to the flange center coordinate system of the i-th slave locator homogeneous transformation matrix; represents the flange center coordinate system of the i-th slave locator with respect to the base coordinate system of the i-th slave locator homogeneous transformation matrix; represents the flange center coordinate system S of the master locator FM with respect to the base coordinate system S of the master locator BM homogeneous transformation matrix; Step 3: Perform shape control on the panel clamping area, establish the transformation relationship between the panel shape deviation and the movement amounts of each locator, characterize the panel shape deviation by the shape control points of the inner surface, and make the panel outer shape reach the shape accuracy range through the movement of the outer surface fixture contact points; Inner shape surface shape control point SC i With respect to the corresponding homogeneous transformation matrix of the i-th locator flange center coordinate system There is as follows: Among them is the shape control point SC of the inner surface i relative to the coordinate system of the i-th locator fixture contact point homogeneous transformation matrix; Establish the error relationship between the actual position and the target position of the control points on the inner surface shape, and then convert it into the adjustment amount of the flange center, that is, the target position of the coordinate system of the flange center of the i-th locator Relative to the actual position of the coordinate system of the flange center of the i-th locator Homogeneous transformation matrix Then there is Among them represents the target position SC of the shape control point i T relative to the actual position SC i The homogeneous transformation matrix of A; Shape control is carried out in an iterative manner until the position errors of each shape control point converge within the tolerance range.

2. The method for regulating the pose and shape of an aircraft panel based on a six-degree-of-freedom locator according to claim 1, wherein, The steps are as follows: In step 2, the relative motion of the fixture contact point coordinate system of the i-th slave locator is described by the relative motion of the fixture contact point coordinate system S of the master locator CPM ; Obtain the homogeneous transformation matrix of the fixture contact point coordinate system S of the master locator CPM relative to the flange center coordinate system S FM in the established kinematic model Calculate the relative motion of the flange center when the fixture contact point coordinate system S of the master locator CPM moves from the current position to the target position. At this time, calculate the driving amounts of the master locator and each slave locator according to the deviation between the actual pose and the theoretical pose of the panel, and keep the relative pose between the fixture contact point coordinate systems unchanged during the collaborative motion to avoid overstress of the panel during the pose adjustment process.

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