Decoupled Modeling and Correction for Fork-Ear Type Aircraft Wing-Fuselage Docking Assembly Deviations Based on Distributed Binocular Vision and Priority Constraint

doi:10.3969/j.issn.1004-132X.2026.03.002

Abstract

Abstract:

Aiming at the problems that the optical path measured by laser trackers was prone to occlusion and the coupling relationship existing in docking assembly accuracy during aircraft wing-fuselage docking assembly， the wing-fuselage docking assembly of fork-ear aircrafts was used as research object， and a method was proposed for decoupled modeling and correction for fork-ear type aircraft wing-fuselage docking assembly deviations based on distributed binocular vision and assembly accuracy priority constraint. A deviation detection and correction system was constructed for the wing-fuselage docking assembly of fork-ear aircrafts， integrating distributed binocular cameras， laser trackers， and numerical control positioners. Based on the importance and process characteristics of wing-fuselage docking assembly accuracy， a comprehensive expression was established for the wing-fuselage docking assembly deviations of fork-ear aircrafts， and a correction method was proposed for such assembly deviations， which was based on the priority constraint of assembly accuracy. The coupled accuracy requirements were decoupled into a phased discrete optimization problem for aircraft wing-fuselage docking assembly. The relative attitude deviation of the aircraft wing-fuselage was quantified using Lie algebra parameterization. The clearance correction and coaxiality correction amounts were calculated respectively via the fork-ear fit clearance model and the fork-ear hole coaxiality model， enabling the step-by-step correction of deviations in aircraft wing-fuselage docking assembly. Experimental results show that compared with the unconstrained model assembly method and the traditional geometric reference-based multi-constraint model deviation correction method， the wing-fuselage relative attitude deviation， fork-ear hole coaxiality， and fork-ear fit clearance are all improved.

Key words: aircraft, assembly, priority constraint, binocular vision, deviation correction

摘要：

针对飞机翼身对接装配中激光跟踪仪测量光路易遮挡及对接装配准确度之间存在耦合关系的问题，以叉耳式飞机叉耳翼身对接装配为研究对象，提出基于分布式双目视觉与优先级约束的叉耳式飞机翼身对接装配偏差解耦建模与修正方法。利用分布式双目相机、激光跟踪仪、数控定位器等构建叉耳式飞机翼身对接装配偏差检测与修正系统。依据翼身对接装配准确度的重要程度和工艺特点，建立叉耳式翼身对接装配偏差综合表达式，提出基于装配准确度优先级约束的飞机翼身对接装配偏差修正方法。将飞机翼身对接装配耦合准确度要求解耦为分阶段离散优化问题，利用李代数参数化量化飞机翼身相对姿态偏差，利用叉耳配合间隙模型和叉耳孔同轴度模型分别解算间隙修正量和同轴度修正量，实现了飞机机翼机身对接装配偏差的逐级修正。实验结果表明，与无约束模型装配方法和传统几何参考多约束模型偏差修正方法相比，翼身相对姿态偏差、叉耳孔同轴度和叉耳配合间隙均得到了改善。

关键词: 飞机, 装配, 优先级约束, 双目视觉, 偏差修正

CLC Number:

V262.4

TIAN Xingyuan, ZHU Yongguo, CUI Wei, HE Minyin, CHENG Cheng, ZHANG Yitao. Decoupled Modeling and Correction for Fork-Ear Type Aircraft Wing-Fuselage Docking Assembly Deviations Based on Distributed Binocular Vision and Priority Constraint[J]. China Mechanical Engineering, 2026, 37(3): 528-537.

田兴源, 朱永国, 崔伟, 何敏寅, 程承, 张义涛. 基于分布式双目视觉与优先级约束的叉耳式飞机翼身对接装配偏差解耦建模与修正[J]. 中国机械工程, 2026, 37(3): 528-537.

Figures/Tables 19

Fig.1 Aircraft wing-fuselage docking assembly deviation detection and correction system

Fig.2 Flow chart of relative pose deviation detection and correction for aircraft wing-fuselage based on priority constraints

Fig.3 Wing-fuselage joint holes distribution

Fig.4 Wing-fuselage joint holes axes

Fig.5 Wing-fuselage joint holes equivalent axes

Fig.6 Wing-fuselage joint fitted lines common perpendicular projected clearance

Fig.7 Main-auxiliary fork-ear clearance

Fig.8 Wing-fuselage fork-ear coaxiality

Fig.9 Fork-ear aircraftwing-fuselage docking assembly deviation detection & correction platform

Fig.10 Wing-fuselage fork-ear dimensions

Fig.11 Wing-fuselage main joint holecenter measured coordinates before docking

Fig.12 Wing-fuselage auxiliary joint holecenter measured coordinates before docking

Fig.13 Main-auxiliary fork-ear fitting clearance before docking

Fig.14 Main-auxiliary fork-ear fitting clearance after docking

Fig.15 Measurement results of wing-fuselage joint holecenter coordinates and coaxiality during docking process

Fig.16 Successful wing-fuselage docking result

Fig.17 Measurement results of main-auxiliary fork-ears coaxiality

Fig.18 Measurement results of main-auxiliary fork-ears average clearance deviation

Fig.19 Relative attitude deviation of wing-fuselage after docking

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