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<p>For a posture alignment system used for aircraft manufacturing, guiding the sphere head mounted on the large-scale component to precisely fall into the corresponding socket on the locator is a crucial technical process. Minor deviations within the confined space of the spherical joint may cause significant internal forces in the entire parallel mechanism. To ensure high-quality assembly of the aircraft, this article proposes a novel compliant positioning framework through force sensing and tracking. Based on the compliant interaction model, a fuzzy variable damping admittance control (FVDAC) strategy is developed to perform closed-loop regulation of the contact force. The gain parameters are modified based on fuzzy rules, enabling real-time optimization of the damping coefficient to track the desired force while compensating for unknown factors. Additionally, an automatic search method based on force feedback is developed to adjust the end-effector to a reasonable area before compliant motion. Finally, simulations and experiments are conducted to verify the effectiveness and practicality of the proposed method. The results demonstrate that the strategy can achieve efficient and accurate positioning without relying on auxiliary measurement devices, significantly reducing assembly time and cost while effectively releasing initial internal forces caused by positioning deviations.</p>

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Compliant Positioning of Sphere Head Using Fuzzy Variable Damping Admittance Control for Large-Scale Aircraft Component Assembly

  • 期刊论文

  • 发表日期：

    2026年5月26日

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  • Sen Liang,
  • Libin Wang,
  • Qiang Fang,
  • Yanding Wei

摘要

For a posture alignment system used for aircraft manufacturing, guiding the sphere head mounted on the large-scale component to precisely fall into the corresponding socket on the locator is a crucial technical process. Minor deviations within the confined space of the spherical joint may cause significant internal forces in the entire parallel mechanism. To ensure high-quality assembly of the aircraft, this article proposes a novel compliant positioning framework through force sensing and tracking. Based on the compliant interaction model, a fuzzy variable damping admittance control (FVDAC) strategy is developed to perform closed-loop regulation of the contact force. The gain parameters are modified based on fuzzy rules, enabling real-time optimization of the damping coefficient to track the desired force while compensating for unknown factors. Additionally, an automatic search method based on force feedback is developed to adjust the end-effector to a reasonable area before compliant motion. Finally, simulations and experiments are conducted to verify the effectiveness and practicality of the proposed method. The results demonstrate that the strategy can achieve efficient and accurate positioning without relying on auxiliary measurement devices, significantly reducing assembly time and cost while effectively releasing initial internal forces caused by positioning deviations.