An Industrial Robot Based Drilling System for Aircraft Structures

• Published in: Applied Mechanics and Materials Vol. 433-435; no. Advances in Mechatronics and Control Engineering II; pp. 151 - 157
• Main Authors: Gao, Mian, Li, Yong Chao, Jiang, Yi Hang, Li, Shuo, Wang, Wei, Li, Jiang Xiong, Bi, Yun Bo
• Format: Journal Article
• Language: English
• Published: Zurich Trans Tech Publications Ltd 15.10.2013
• Subjects: Accuracy; Aircraft structures; Automatic control; Automation; Communications systems; Computer control; Control systems; Deviation; Drilling; End effectors; Industrial robots; Lasers; Programming; Robot control; Robotics; Robots; Deviation Compensation; Automatic Drilling; Control System; Robotics
• ISBN: 303785894X; 9783037858943
• ISSN: 1660-9336; 1662-7482; 1662-7482
• DOI: 10.4028/www.scientific.net/AMM.433-435.151

In order to realize automatic flexible drilling with high efficiency and good quality, a drilling system was established, which integrates the technology of laser measurement, off-line programming, computer control and robotics. In this system, the key coordinate frames are established by the laser tracker, the drilling programs are generated by the off-line programming and simulation system, the communication between the automatic drilling control system and the robot control system is based on the socket technique. By running drilling program, the moving platform, robot and the end effector can work automatically and harmoniously. In addition, the deviation compensation methods of hole position and its normal vector are proposed. The experimental results show that the efficiency of drilling can achieve 6 holes per minute, the position accuracy can be effectively controlled within 0.3mm, and the normal accuracy is better than 0.5°.