A primary–secondary admittance control strategy for dual-Stewart platforms in confined-space aircraft component alignment

Due to the embedded complexity in aircraft fuselage assembly, the role of aircraft assembly with respect to the entire aircraft manufacturing process streamlines construction. Moreover, the fuselage assembly optimizes the construction of altitude- and time-complex parts, i.e., wings. In a conventional assembly process, multiple adjustable components need to be integrated into the assembly. These include linear and point components. They involve the use of multi-point adjusters that integrate numerically controlled positioners. However, they present a challenge within a construction space due to their size and the complexity of their operational costs. The focus of this investigation is aimed at constructive solutions applicable to the aircraft framework assembly environment in aircraft

assembly construction zones where there is limited freedom of movement during the process of integrating the wings and fuselage of an aircraft. In this case, dual-Stewart platforms are proposed as the primary means of cooperative control. This brings about integrated position control, supplemented by an admittance-based force-position control approach. The objective here is to ensure ultra-high precision in the adjustment of the system's posture while achieving the desired internal force and moment control. The comprehensive dynamics simulations confirmed the system's performance within a defined operational range of ± 0.05 mm and ± 0.05° In all operational scenarios. Moreover, the internal forces and moments suppression rate exceeded 90.03%. Hence, the proposed

method is highly effective in simplifying complex aircraft assembly tasks and improving their operational flexibility.

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