Control of automatic assembly platform for a large unit based on equivalent parallel

Abstract

In this paper, an automatic assembly platform based on an equivalent parallel mechanism that includes four parallel precise locators is designed to adjust the position of a large unit during the assembly process. After the kinematics analysis of the platform, a posture calculation method based on a laser tracker is proposed. Additionally, a quintic polynomial is used to determine the part movements. The system uses twelve-axis synchronous control. Finally, experiments show that the platform is valid and efficient and that the final positioning accuracy is 0.1mm.