Normal adjusting algorithm of a 3-RPS parallel mechanism in airplane assembly

When the wall panels were flexibly assembled, drilled or riveted, a typical 3-RPS parallel mechanism was used for self adjusting the position and orientation. And the end effector requested the aiguille working through the skin normal direction from the hole. For resolving the normal adjusting problem, the position and orientation modeling was firstly analyzed and described for the mobile platform of a 3-RPS parallel mechanism. And then the normal adjusting solution algorithm was brought forward. Finally, through an example the method is shown that it has the practical engineering application capability. And this normal adjusting algorithm can be extended to the further airplane digital manufacturing and assembly such as positioning and attitude regulation.