Motion planning for posture alignment machine tool oriented fuselage panel

To meet the requirement of automated alignment and joining of fuselage panels in digital assembly, a novel type of assembly machine tool for adjusting a large subassembly location(including position and orientation) is designed. The adjusting strategy of subassembly position and orientation based on four accurate 3-axis locators support is proposed, which is suitable for the case of uncertain path and reduces the multi-axis control difficulty of every locator by decomposing the location path planning into two parts, one for position schemes and the other for orientation ones. The simulation and experiment show the accuracy, efficiency and stability of location alignment of the fuselage panels.