Wing movement path planning method during wing-fuselage docking process based on measured data and improved PSO-RRT* algorithm

Wing-fuselage docking is one of the most crucial stages in the aircraft assembly process. In China, the process of wing-fuselage docking for large aircraft relies on experience and on-the-spot error detection during the docking process currently. However, the inefficiency of the approach makes it difficult to meet the demands of efficient production. Moreover, aircraft wings are susceptible to deformation, and various manufacturing errors can lead to different types of deformations. To address this problem, an inverse planning method for wing docking paths was developed, leveraging measured data and an enhanced PSO-RRT* algorithm. Firstly, a part model was reconstructed using measured point cloud data to depict manufacturing errors accurately. Then, the deformation occurring during the wing positioning process was simulated based on this model. Finally, improved PSO-RRT* algorithm was proposed and the inverse planning of wing docking path was executed. The experiment showed that the average absolute error between wing deformation simulation and measured values is 0.0015 mm. The maximum absolute error is 0.03182 mm. Finally, to ensure that the generated path can be used for the actual assembly process. A path smoothing method based on cubic spline interpolation was proposed, and the path was segmented.