Providing for Positioning Accuracy when Assembling Large-Sized Constructions

Abstract A method of performing adaptive coordinate positioning of parts of large-sized constructions is suggested. A number of problems, arising when mounting large-sized constructions and influencing the accuracy of assembling are considered in this article. The methods of providing for accuracy in direct and reversed methods of positioning are considered. The problems of coordinate positioning when assembling large-sized constructions are considered. The method of adaptive positioning for two iterations, which allows equalizing some kinds of inaccuracies when positioning, is suggested. During experimental implementation of the suggested positioning method it was approved that automated positioning for two iterations allows for the significant increase in the accuracy of positioning. Experimental research was performed with the help of the industrial robot KUKA KR 10 R1100 sixx and a complex of three Cartesian positioners with electric slides FESTO EGSK-46-300-10P with stepper motors EMMS-ST-57-M-SEB-G2. Coordinate measurements were performed by the laser tracker API Tracker3. The method is suggested to be used in aircraft engineering, ship building, etc.