| The aircraft manufacturing is different from the traditional general machinery and equipmentmanufacturing, whose assembly process occupies a large proportion in the whole process and directlyimpact on the final quality of the aircraft. With the development of the industrial robots, theautomated drilling unit based on industrial robots occurs, which can take full advantage of the flexibleautomation to overcome the lack of traditional hand-drilling and improve the quality and efficiency ofassembly.Through the research of robot drilling technology at home and abroad, the paper proposes a setof robot automatic drilling control systems based on PC. Specific studies summarized below: First,constructing robot automated drilling system platform for aircraft wing, constructing system modeling,and planning for robot drilling process. Then through the analysis and comparison, determine the PCplus soft CNC as system’s control scheme. After that, adopt ST language in TwinCAT platform for thedevelopment of motion control of end-effector and using EtherCAT bus to communicate with hostcomputer. Finally, develop a set of control software on the host computer, integrated processingmotion control, adaptive adjustment of posture of end-effector and real-time monitoring functions,which can help systems to overcome the problems when industrial robot applied to aircraft assembly,such as absolute positioning accuracy being not enough, the tool axial misalignment, etc.Experiments show that the system gets a powerful CPU, high-speed I/O, high-speed EtherCATbus and TwinCAT software together to form a complete robot drilling control system, which meets thetechnical criteria of aircraft assembly and has an excellent performance and good prospect. |
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