Error Modeling and Compensation of Circular Motion on a New Circumferential Drilling System

A new flexible circumferential drilling system is proposed to drill on the fuselage docking area. To analyze the influence of the circular motion error to the drilling accuracy, the nominal forward kinematic model is derived using Denavit-Hartenberg (D-H) method and this model is further developed t...

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Bibliographic Details
Published in:Mathematical problems in engineering 2015-01, Vol.2015 (2015), p.1-8
Main Authors: Han, Yong-Wei, Fei, Shao-Hua, Li, Yu-Chao, Fang, Qiang, Ke, Ying-Lin
Format: Article
Language:English
Subjects:
Accuracy
Aerospace industry
Aircraft
Automation
Circularity
Compensation
Coordinate transformations
Drilling
Error analysis
Errors
Kinematics
Mathematical models
Motion compensation
Position errors
Position measurement
Synchronism
Synchronization
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Summary:A new flexible circumferential drilling system is proposed to drill on the fuselage docking area. To analyze the influence of the circular motion error to the drilling accuracy, the nominal forward kinematic model is derived using Denavit-Hartenberg (D-H) method and this model is further developed to model the kinematic errors caused by circular positioning error and synchronization error using homogeneous transformation matrices (HTM). A laser tracker is utilized to measure the circular motion error of the two measurement points at both sides. A circular motion compensation experiment is implemented according to the calculated positioning error and synchronization error. Experimental results show that the positioning error and synchronization error were reduced by 65.0% and 58.8%, respectively, due to the adopted compensation, and therefore the circular motion accuracy is substantially improved. Finally, position errors of the two measurement points are analyzed to have little influence on the measurement result and the validity of the proposed compensation method is proved.
ISSN:1024-123X
1563-5147
DOI:10.1155/2015/286796