An Industrial Robot Based Drilling System for Aircraft Structures

Abstract:

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°.

• Periodical: Applied Mechanics and Materials (Volumes 433-435)
• Pages: 151-157
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.433-435.151
• Online since: October 2013
• Authors: Yun Bo Bi, Yong Chao Li, Yi Hang Jiang, Jiang Xiong Li, Wei Wang, Mian Gao, Shuo Li
• Keywords: Automatic Drilling, Control System, Deviation Compensation, Robotics

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