基于分布式双目视觉与优先级约束的叉耳式飞机翼身对接装配偏差解耦建模与修正OA

Aiming at the problems that the optical path measured by laser trackers was prone to occlu-sion and the coupling relationship existing in docking assembly accuracy during aircraft wing-fuselage dock-ing assembly,the wing-fuselage docking assembly of fork-ear aircrafts was used as research object,and a method was proposed for decoupled modeling and correction for fork-ear type aircraft wing-fuselage dock-ing assembly deviations based on distributed binocular vision and assembly accuracy priority constraint.A deviation detection and correction system was constructed for the wing-fuselage docking assembly of fork-ear aircrafts,integrating distributed binocular cameras,laser trackers,and numerical control positioners.Based on the importance and process characteristics of wing-fuselage docking assembly accuracy,a compre-hensive expression was established for the wing-fuselage docking assembly deviations of fork-ear aircrafts,and a correction method was proposed for such assembly deviations,which was based on the priority con-straint of assembly accuracy.The coupled accuracy requirements were decoupled into a phased discrete op-timization problem for aircraft wing-fuselage docking assembly.The relative attitude deviation of the air-craft wing-fuselage was quantified using Lie algebra parameterization.The clearance correction and coaxial-ity correction amounts were calculated respectively via the fork-ear fit clearance model and the fork-ear hole coaxiality model,enabling the step-by-step correction of deviations in aircraft wing-fuselage docking assem-bly.Experimental results show that compared with the unconstrained model assembly method and the tradi-tional geometric reference-based multi-constraint model deviation correction method,the wing-fuselage relative attitude deviation,fork-ear hole coaxiality,and fork-ear fit clearance are all improved.