为了解决大型飞机机身壁板数字化装配中的调姿与对接问题,设计了一种面向大型飞机机身部装的数字化柔性工装试验样机,提出了一种基于精密三坐标定位器四点支撑的大型飞机机身壁板的装配位姿调整方法.该方法不仅适合于调姿路径不确定的情况,而且还将装配位姿调整过程分解为位置与姿态2个调整阶段,从而降低了多轴协调控制的难度.由于装配件的位移、速度、加速度轨迹的理论计算与物理实验结果均是光滑连续的,而且满足各边界约束条件,因此该调姿系统及其运动规划方法可满足机身壁板装配调姿的精度、效率和稳定性要求,为装配件调姿运动的高效精确控制奠定了基础. In order to solve the problem of alignment and docking in the digital assembly of fuselage panels for large aircraft, a digital flexible tooling prototype for large aircraft fuselage is designed, and a four-point supporter based on precision three-coordinate positioner Large aircraft fuselage panel attitude adjustment method.The method is not only suitable for the uncertainty of the attitude adjustment path, but also the assembly position adjustment process is decomposed into two adjustment phases of position and attitude, thus reducing the multi-axis coordination The difficulty of control.As the displacement, velocity and acceleration trajectory of the assembly are theoretically calculated and the results of the physical experiment are smooth and continuous, and meet the boundary constraints, so the attitude adjustment system and its motion planning method can meet the fuselage panel The assembly accuracy, efficiency and stability requirements lay the foundation for the efficient and precise control of the articulated assembly movements.