The study of drilling and countersink technology in robot drilling end-effector

Aiming at the drilling verticality in aircraft assembly, this paper presents a design method of a Double-Eccentricdisc Normal-Adjustment (DENA) mechanism; it can adjust the two rotational degrees of freedom by the interaction of two eccentric discs, and make the drill axis coincide with the normal d...

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Bibliographic Details
Published in2014 9th IEEE Conference on Industrial Electronics and Applications pp. 1858 - 1863
Main Authors Chengkun Wang, Peijiang Yuan, Tianmiao Wang, Qishen Wang, Huajian Tan, Dongdong Chen, Ting Lai
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2014
Subjects
Aircraft
countersink
double-eccentricdisc
drilling
Drilling machines
Feeds
Force
normal-adjustment
Robot sensing systems
Surface treatment
verticality
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Summary:Aiming at the drilling verticality in aircraft assembly, this paper presents a design method of a Double-Eccentricdisc Normal-Adjustment (DENA) mechanism; it can adjust the two rotational degrees of freedom by the interaction of two eccentric discs, and make the drill axis coincide with the normal direction of the drilling point. This method ensures that the position of the drill vertex can be kept static during the attitude adjustment process. In addition, it can avoid position compensation and secondary positioning, and then improve the drilling efficiency. Using pressure sensor, the robot can control the countersink depth by detecting the states of the drill and the pressing force of the cylinder. It can eliminate the influence of the deformation under the compression to the countersink depth precision and make the countersink precision accuracy within 0.05mm. Finally, the experimental results are addressed to verify the rationality of DENA mechanism and the feasibility of using pressure sensor to control the countersink depth.
ISSN:2156-2318
2158-2297
DOI:10.1109/ICIEA.2014.6931470