Control-Software Development Of Robot Drilling System

The robot drilling is a system integrating various technologies of digital, with wide applications in industry. Rivet connection and bolt connection have taken a great part of workload in aircraft industry, which means there are a lot of drilling. The performance of industrial robot has been improved with the development of robot technique, and robot drilling has been applied to aircraft Industry. The technology of robot drilling is a advanced technology in that it overcomes the shortcomings of traditional drilling technology with handwork.Robot drilling has enhanced the efficiency of drilling,improvd the accuracy of positioning and the quality of the hole, whick will meet the high demand of fatigue life in aircraft Industry. Robot drilling has been applied to aircraft industry on abroad, but it has just got off the ground at home.Based on the above mentioned advantages, such equipments as 3-coordinate post, drilling end effctor and robot platform are applied in the robot drilling experimentation project by Zhejing University. Based on this project, a software system called Robot Drilling Control System(RDS) is developed to control the 3-coordinate post, drilling end effctor and robot platform. The software focuses on these devices'motion control performance and compensating their movement precision.In chapter 1, the paper expounded on the article's background, the world's current application and developing trends of robot drilling in aircraft Industry. In chapter 2, the mechanical structure, hardware system, robot system and measure system are expatiated; the difference between fixtures is analyzed and the key technical guidelines are proposed. In chapter 3, according to the demand of the robot drilling experimentation, the software interface and structure of RDS, the function of modules are introduced. In chapter 4, the trajectory of signal-axis motion and multi-axis synchro motion is planed, which is based on trigonometric S-curve and third order S-curve arithmetic. The effect if proved by the result of experimentation. In chapter 5, introduce the content and result of the experimentation of robot drilling system, and show the capability of the system by analyzing the result. The feasibility of robot drilling system is proved. In the end, summary for the whole work in this dissertation is given, and the future work is discussed.