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Mathematical Problems in Engineering
Volume 2015, Article ID 286796, 8 pages
Research Article

Error Modeling and Compensation of Circular Motion on a New Circumferential Drilling System

1State Key Lab of Fluid Power Transmission and Control, School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
2AVIC Xi’an Aircraft Industry Group Limited Company, Xi’an 710089, China

Received 27 March 2015; Revised 28 May 2015; Accepted 30 May 2015

Academic Editor: Qing Chang

Copyright © 2015 Qiang Fang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A new flexible circumferential drilling system is proposed to drill on the fuselage docking area. To analyze the influence of the circular motion error to the drilling accuracy, the nominal forward kinematic model is derived using Denavit-Hartenberg (D-H) method and this model is further developed to model the kinematic errors caused by circular positioning error and synchronization error using homogeneous transformation matrices (HTM). A laser tracker is utilized to measure the circular motion error of the two measurement points at both sides. A circular motion compensation experiment is implemented according to the calculated positioning error and synchronization error. Experimental results show that the positioning error and synchronization error were reduced by 65.0% and 58.8%, respectively, due to the adopted compensation, and therefore the circular motion accuracy is substantially improved. Finally, position errors of the two measurement points are analyzed to have little influence on the measurement result and the validity of the proposed compensation method is proved.