POSITIONING SYSTEM WORK METHOD Russian patent published in 2017 - IPC B25J9/16 B23P21/00 B64F5/00 

FIELD: machine engineering.

SUBSTANCE: invention relates to the positioning mode of the structural member (B), in particular, during assembly of the aircraft structure by means of positioning system (1). The positioning system (1) contains several positioning actuators (2a, 2b, 2c), each of which has at least one manipulator (M). The manipulators (M) grasp the structural member (B), and synchronically manipulate it, while it is jointly grasped by manipulators (M). The base coordinate system is assigned to each manipulator (M), the position and orientation of the structural member (B) in the initial position and in the target position is determined. Determine the reference motion parameters, related to the coordinate system, assigned to the structural member (B), and describe the structural member (B) movement from the position and orientation in the initial position to the position and orientation in the target position. Transform the parameters of the reference motion to the corresponding base coordinate system and manipulate the structural member (B) by means of manipulators (M), based on the corresponding transformed reference motion parameters.

EFFECT: invention provides accuracy increase and simplification of the structural members positioning, as well as keeping them in the required form.

20 cl, 7 dwg