Details
| Original language | English |
|---|---|
| Title of host publication | Intelligent Robotics and Applications |
| Subtitle of host publication | 4th International Conference, ICIRA 2011, Proceedings |
| Pages | 142-151 |
| Number of pages | 10 |
| Edition | 1 |
| Publication status | Published - Dec 2011 |
| Externally published | Yes |
| Event | 4th International Conference on Intelligent Robotics and Applications, ICIRA 2011 - Aachen, Germany Duration: 6 Dec 2011 → 8 Dec 2011 |
Publication series
| Name | Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) |
|---|---|
| Number | PART 1 |
| Volume | 7101 LNAI |
| ISSN (Print) | 0302-9743 |
| ISSN (electronic) | 1611-3349 |
Abstract
This article is concerned with the kinematics for flexible and precise assembly systems for big and heavy parts, e.g. parts of plane fuselages or wings. The hypothesis of this article is that the common 3-PPPS Tripod (which is a current industrial solution to the problem) may be replaced by a 6-SPS parallel kinematic. In difference to many other parallel kinematic machines, the part which has to be assembled is used itself as the end effector platform in this concept. On the part and on the floor, there is a generic grid of fixation points, which gives the possibility for (re)configuration and adaption to suit particular requirements. This article compares the transmission of drive errors in order to evaluate the transmission of alignment increments. This criterion is used for an optimization that searches for a kinematic configuration that outperforms the Tripod systems. It is shown that there is a considerable number of configurations which are superior to the Tripod system. Based on these insights, it is concluded that there is potential for the improvement of current systems through multi-objective optimization.
Keywords
- Jacobian, Kinematic Analysis, Precision Assembly of Aircraft Fuselages, Stewart Platform
ASJC Scopus subject areas
- Mathematics(all)
- Theoretical Computer Science
- Computer Science(all)
- General Computer Science
Cite this
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Intelligent Robotics and Applications : 4th International Conference, ICIRA 2011, Proceedings. 1. ed. 2011. p. 142-151 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 7101 LNAI, No. PART 1).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - A parallel kinematic concept targeting at more accurate assembly of aircraft sections
AU - Löchte, Christian
AU - Dietrich, Franz
AU - Raatz, Annika
PY - 2011/12
Y1 - 2011/12
N2 - This article is concerned with the kinematics for flexible and precise assembly systems for big and heavy parts, e.g. parts of plane fuselages or wings. The hypothesis of this article is that the common 3-PPPS Tripod (which is a current industrial solution to the problem) may be replaced by a 6-SPS parallel kinematic. In difference to many other parallel kinematic machines, the part which has to be assembled is used itself as the end effector platform in this concept. On the part and on the floor, there is a generic grid of fixation points, which gives the possibility for (re)configuration and adaption to suit particular requirements. This article compares the transmission of drive errors in order to evaluate the transmission of alignment increments. This criterion is used for an optimization that searches for a kinematic configuration that outperforms the Tripod systems. It is shown that there is a considerable number of configurations which are superior to the Tripod system. Based on these insights, it is concluded that there is potential for the improvement of current systems through multi-objective optimization.
AB - This article is concerned with the kinematics for flexible and precise assembly systems for big and heavy parts, e.g. parts of plane fuselages or wings. The hypothesis of this article is that the common 3-PPPS Tripod (which is a current industrial solution to the problem) may be replaced by a 6-SPS parallel kinematic. In difference to many other parallel kinematic machines, the part which has to be assembled is used itself as the end effector platform in this concept. On the part and on the floor, there is a generic grid of fixation points, which gives the possibility for (re)configuration and adaption to suit particular requirements. This article compares the transmission of drive errors in order to evaluate the transmission of alignment increments. This criterion is used for an optimization that searches for a kinematic configuration that outperforms the Tripod systems. It is shown that there is a considerable number of configurations which are superior to the Tripod system. Based on these insights, it is concluded that there is potential for the improvement of current systems through multi-objective optimization.
KW - Jacobian
KW - Kinematic Analysis
KW - Precision Assembly of Aircraft Fuselages
KW - Stewart Platform
UR - http://www.scopus.com/inward/record.url?scp=84855408042&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-25486-4_15
DO - 10.1007/978-3-642-25486-4_15
M3 - Conference contribution
AN - SCOPUS:84855408042
SN - 9783642254857
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 142
EP - 151
BT - Intelligent Robotics and Applications
T2 - 4th International Conference on Intelligent Robotics and Applications, ICIRA 2011
Y2 - 6 December 2011 through 8 December 2011
ER -