Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 17, issue 1
Articles | Volume 17, issue 1
https://doi.org/10.5194/ms-17-657-2026
© Author(s) 2026. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-17-657-2026
© Author(s) 2026. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 17, issue 1
Research article
 | 
02 Jun 2026
Research article |  | 02 Jun 2026

A primary–secondary admittance control strategy for dual-Stewart platforms in confined-space aircraft component alignment

Huijun Yu, Jiahao Lin, Ruimin Tan, Kang Liu, and Pengyuan Zhao

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Short summary
This study proposes a novel dual-robot system controlled by a primary–secondary strategy for accurately aligning large, flexible aircraft parts in tight spaces. The primary robot ensures precise positioning, while the secondary robot actively senses and cancels out harmful internal forces, preventing part deformation. Our simulated results show that this method achieves high alignment accuracy and reduces internal forces by over 90.03 %, offering a safe and efficient automated solution for aircraft assembly.
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