A coaxial alignment method for large aircraft component assembly using distributed monocular vision

摘要

Purpose - The assembly of large component in out-field is an important part for the usage and maintenance of aircrafts, which is mostly manually accomplished at present, as the commonly used large-volume measurement systems are usually inapplicable. This paper aims to propose a novel coaxial alignment method for large aircraft component assembly using distributed monocular vision. Design/methodology/approach - For each of the mating holes on the components, a monocular vision module is applied to measure the poses of holes, which together shape a distributed monocular vision system. A new unconstrained hole pose optimization model is developed considering the complicated wearing on hole edges, and it is solved by a iterative reweighted particle swarm optimization (IR-PSO) method. Based on the obtained poses of holes, a Plücker line coordinates-based method is proposed for the relative posture evaluation between the components, and the analytical solution of posture parameters is derived. The required movements for coaxial alignment are finally calculated using the kinematics model of parallel mechanism. Findings - The IR-PSO method derived more accurate hole pose arguments than the state-of-the-art method under complicated wearing situation of holes, and is much more efficient due to the elimination of constraints. The accuracy of the Plücker line coordinates-based relative posture evaluation (PRPE) method is competitive with the singular value decomposition (SVD) method, but it does not rely on the corresponding of point set-thus, it is more appropriate for coaxial alignment. Practical implications - An automatic coaxial alignment system (ACAS) has been developed for the assembly of a large pilotless aircraft, and a coaxial error of 0.04 mm is realized. Originality/value - The IR-PSO method can be applied for pose optimization of other cylindrical object and the analytical solution of Plücker line coordinates-based axes registration is derived for the first time.