| In traditional airplane assembly, amounts of assembly frames are used to clamp, fix, and hold the components of aircraft which then will be joint and assembled by manual work. This method will lead to low automatization, low product efficiency, instable quality, and poor adaptability to other sort of product. In order to overcome the defect of traditional assembly which based on fixed frames, one kind of flexible assembly technology based on flexible parts like POGO sticks with 3-DOF is widely used in modern airplane assembly.Firstly, we reviewed the analog based traditional assembly of aircraft assembly and analyzed the application, advantage and disadvantage of parallel mechanism and muti-robots pose-adjustable system. Then put forward the aim and meaning of this paper.Secondly, with regard to the flexible basic part in aircraft assembly--POGO stick with 3-DOF, we designed its configuration and analyzed the principle accordingly. Mainly designed and calculated the driving element servo motor and transmission component ball screw.Thirdly, we analyzed the characteristic of POGO stick in statics including stiffness and intensity analysis of central components of pose-adjustment mechanism. Thus we gained the stress and displacement nephograms to check the stiffness and intensity and lead optimizing design according to risky parts. With regard to main components, modal analysis was applied to predict the risky situation where resonance occurred, and then proof will be gained.Fourthly, to analyze its dynamic characteristic, the system model was established and the relative transfer function was derived. By Matlab-based simulation and experimental analysis, it was concluded that this system can promptly and exactly trace the position command with a good anti-jamming capability. It can improve the quality and efficiency of aircraft pose-adjustment and assembly.Finally, summarized the whole work of the thesis, and discussed the future work.
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