Abstract: In the automatic assembly processes of aircrafts, the precise positioning of the hole-drilling system would directly affect the assembly accuracy. Generally, the reference hole was manually prepared in advance, the position of the reference hole under the hole-drilling systems was detected, and the spatial conversion relationship was obtained by comparing with the position in the products to complete the system positioning. In order to improve the positioning accuracy of the lightweight mobile hole-drilling system, a positioning method of the lightweight mobile hole-drilling system was proposed based on redundant reference holes. The space conversion relationship was reconstructed by using Rodrigues matrix, and the deviation filtering algorithm of redundant reference holes was proposed, thus judging the large deviation hole position in the redundant reference hole that affected the space conversion accuracy, improving the accuracy of the conversion relationship, and improving the positioning accuracy of the hole making system. A calculation example was analyzed and the experimental verification was carried out. It is demonstrated that the method may accurately screen and remove large deviation hole positions in redundant reference holes, and increase the space conversion errors are reduced to less than 0.12 mm. According to the error transfer theory, the positioning accuracy of the hole-drilling system is improved by approximately 20%.

Key words: aircraft assembly, hole-drilling automation, reference hole, positioning accuracy, redundant hole position, deviation filter

摘要： 飞机自动化装配过程中，制孔系统能否精确定位将直接影响装配精度。一般通过人工预先制得基准孔，检测基准孔在制孔系统下的位置，与在产品中的位置比较得到空间转换关系以完成系统定位。为提高轻型移动制孔系统的定位精度，提出了一种基于冗余基准孔的轻型移动制孔系统定位方法，使用罗德里格矩阵重新构建空间转换关系，提出冗余基准孔的偏差过滤算法，判断冗余基准孔中是否存在影响空间转换精度的大偏差孔位，提高转换关系精度，改善制孔系统的定位精度。进行算例分析与实验验证，证明所提方法可以在冗余基准孔中准确筛选并去除大偏差孔位，将空间转换误差减至小于0.12 mm，由误差传递理论知制孔系统定位精度提高约20%。

关键词: 飞机装配, 自动化制孔, 基准孔, 定位精度, 冗余孔位, 偏差过滤