Research On Multifunctional End Effector For The Aircraft Automatic Assembly System

Robot automatic drilling technology is the growing tendency of automatic assembly foraeroplane. Multifunctional end effector is the one of the key technology and the main technicalbottleneck in Robot automatic drill technologing. According to the actual demand, this paper used adeeply study by theoretical analysis, simulation optimize and experiment on robotic end effectortechnology. Its main contents are as follows:Firstly, combined with the actual demands of aircraft assembly, this paper designed the generalstructure scheme and main function module of the end effector, in this basis analysed its work flow,this works provided a strong theoretical foundation to the structure design of end effcetor.Secondly, this paper designed the end effector main function module, including normalalignment unit, pressing unit and drilling unit, and so on. By using finite element simulation, thestrength verification has been made for end effector key structure and the complete machine. Thesimulation results show that the end effector fits the design requirements.Thirdly, the research was made on structure lightweight of end effector by using topologyoptimization technology. The topology optimization analysis was made for main results obtained fromend effector based on FEM software platform, and the actual structure was optimized as well. Theoptimized structure meets the strength requirement and effectively reduces the structural weight.Finaly,developed a validation prototype machine and designed the suitable test fixture for theend effector. did the pilot run for functional verification, the verification test results show that: Thehole precision reached H9、normal alignment precision less than0.50and drilling efficiency wasgreater than four every minute. So the performance of the end actuator can achieve the requirementsof aircraft assembly.