Articles | Volume 17, issue 1
https://doi.org/10.5194/ms-17-657-2026
https://doi.org/10.5194/ms-17-657-2026
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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Cited articles

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Dasgupta, B. and Mruthyunjaya, T.-S.: A Newton–Euler formulation for the inverse dynamics of the Stewart platform manipulator, Mech. Mach. Theory, 33, 1135–1152, https://doi.org/10.1016/S0094-114X(97)00118-3, 1998. 
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Erdem, I., Helgosson, P., and Kihlman, H.: Development of Automated Flexible Tooling as Enabler in Wing Box Assembly, Proc. CIRP, 44, 233–238, https://doi.org/10.1016/j.procir.2016.02.065, 2016. 
Guo, F. Y., Xiao, Q. D., Xiao, S. H., and Wang, Z. Q.: Assembly technology for aeronautical CFRP structures under the collaborative constrains of geometric shape, physical performance and service stability, Compos. Struct., 318, 1–26, https://doi.org/10.1016/j.compstruct.2023.117071, 2023. 
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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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