Research On Assembly Path Planning Of Key Parts And Components For Aircraft Final Assembly

As the last link of the aircraft manufacturing,aircraft final assembly has an important role,and involves large numbers of key parts and components.These key parts and components are of great importance in aircraft final assembly,which directly affects the overall final quality of the aircraft.However,aircraft final assembly is still dominated by manual operation,and the level of automation is relatively low.Being a powerful method of guiding aircraft assembly,assembly path planning can verify the rationality of aircraft final assembly process,which is of great significance to improve assembly efficiency of aircraft final assembly.The core of the assembly path planning is to calculate a collision-free path from the starting position to the terminal position for the part to be assembled.In terms of the complexity of aircraft assembly,assembly path planning still faces many difficulties and challenges.In order to solve the problems of long time-consuming and inaccurate path solution in the existing assembly path planning method,the key problems in assembly path planning of key parts and components in aircraft final assembly are studied.The main contents are as follows:(1)The concept of configuration space and the basic method of handling 3D rigid body in virtual environment are introduced as the basis of assembly path planning.After analyzing the characteristics and difficulties of the assembly path planning of the key parts and components of aircraft,the paper put forward the overall framework of the study.(2)An improved bi-directional RRT algorithm called RB-RRT is proposed.The algorithm introduces an iterative optimization retraction strategy and adds operators that adaptively determine the open space and the narrow space,which greatly improves the quality and efficiency of the assembly path planning in narrow space of aircraft.(3)Pre-and post-processing methods for the path planning of assembly path planning of key parts and components for aircraft final assembly are proposed.The combination of them makes the assembly path of key parts and components in line with engineering practice.(4)A prototype system for the path planning of key parts and components in aircraft final assembly is designed and developed,and the typical key parts and components in the final assembly process of the aircraft are selected to calculate and optimize the assembly path.