Realization of Spindle Prompt Normal Posture Alignment for Assembly Holemaking on Large Suspended Panel

To satisfy the requirement of assembly hole making in large suspended panel, a 5-DOF spindle normal posture alignment mechanism (abbreviate as SNPAM) is designed, and a method for promptly adjusting spindle normal direction is proposed. In this method, spindle centering adjustment in a large scope is quickly realized by using image sensor. With laser displacement sensors, coordinates of three laser projective points around the hole-marker are achieved. By rebuilding kinetic transfer equation of the SNPAM, inversely solving control increments of active pairs are gained, and spindle normal posture alignment is accomplished in a small scope. Research on connecting holes of one aircraft wing-to-body shows the method has such virtues as simple operate, convenient control, good real-time, which is especially fit for automatic hole making in large suspended panel.