Abstract: To guarantee the quality and reliability of large aircraft components alignment, the dynamic model of alignment mechanism was constructed and the whole alignment process was simulated. According to characteristics of pose alignment mechanism, support bars of 3D actuators were considered to be flexible bodies, and the dynamic model of pose alignment system was established by utilizing Lagrange equation, virtual work theory and Lagrange multipliers method. Through numerical solution, the joint reaction forces of aircraft component and supporting poles were acquired. Simulation example was presented to demonstrate the correctness and effectiveness of proposed dynamic model. In addition, this dynamic model also provided powerful basis for the automatic control of posture alignment process.

Key words: aircraft assembly, digital manufacturing, pose alignment, redundant parallel mechanism, flexible multi-body dynamics

摘要： 为保证飞机大部件调姿的质量与可靠性，构建了调姿机构的动力学模型，模拟了整个调姿过程。根据调姿机构自身特点将三坐标定位器的支撑杆视为柔性体，综合运用拉格朗日方程、虚功原理与拉格朗日乘子法，建立了调姿机构的柔性多体动力学模型；经数值求解得到调姿过程中飞机部件和定位器的受力情况，通过仿真算例验证了所建立的动力学模型的正确性和有效性。该动力学模型可为实现调姿过程的自动控制提供有力的依据。

关键词: 飞机装配, 数字化制造, 位姿调整, 冗余并联机构, 柔性多体动力学