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Error Modeling and Compensation of Circular Motion on a New Circumferential Drilling System

Author

Listed:
  • Qiang Fang
  • Yu-Chao Li
  • Shao-Hua Fei
  • Yong-Wei Han
  • Ying-Lin Ke

Abstract

A new flexible circumferential drilling system is proposed to drill on the fuselage docking area. To analyze the influence of the circular motion error to the drilling accuracy, the nominal forward kinematic model is derived using Denavit-Hartenberg (D-H) method and this model is further developed to model the kinematic errors caused by circular positioning error and synchronization error using homogeneous transformation matrices (HTM). A laser tracker is utilized to measure the circular motion error of the two measurement points at both sides. A circular motion compensation experiment is implemented according to the calculated positioning error and synchronization error. Experimental results show that the positioning error and synchronization error were reduced by 65.0% and 58.8%, respectively, due to the adopted compensation, and therefore the circular motion accuracy is substantially improved. Finally, position errors of the two measurement points are analyzed to have little influence on the measurement result and the validity of the proposed compensation method is proved.

Suggested Citation

  • Qiang Fang & Yu-Chao Li & Shao-Hua Fei & Yong-Wei Han & Ying-Lin Ke, 2015. "Error Modeling and Compensation of Circular Motion on a New Circumferential Drilling System," Mathematical Problems in Engineering, Hindawi, vol. 2015, pages 1-8, September.
    • Handle: RePEc:hin:jnlmpe:286796
    DOI: 10.1155/2015/286796
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