Framework and Implementation of Two-stage Alignment for Large Components based on P&O and F/T

A two-stage alignment framework of large components based on position and orientation (P&O) and force/torque (F/T) is put forward to solve the adjustment difficulties of accurate P&O during the alignment process, considering the geometric and physical characteristics of large components. The basic environment and enabling technologies of the framework are introduced. The P&O-guided alignment and the F/T-driven alignment of the framework are set up. Then, a mathematical model of P&O and assembly relationship model of P&O for P&O-guided alignment are proposed. Moreover, a six-dimensional F/T analytical algorithm based on screw theory for F/T -driven alignment is given. The geometric and mechanical models of components are presented. Based on the obtained models, the compliance assembly strategies are analyzed. The alignment experiment, using aerospace products, was performed on the self-designed alignment system, and the experimental results proved the proposed the framework based on P&O and F/T is correct and effective.