Research On Crawling-Positioning Integrated Parallel Robot With Redundant Actuation For Drilling Of Aircraft Component

Aviation industry is high technology industry that has relationship withnational economy and national defense security. In modern aircraftmanufacturing process, assembly and connection quality directly affectsstructure fatigue performance and reliability of plane, and hole drillingoccupies an important position. In order to meet high life cycle requirementsof modern aircraft, various technical ways can be used to improve thetechnology state of connection parts. One of important ways to improve holequality is automatic precision drilling system through automation equipment.With the support of national natural science fund, a new type of crawlingrobot system for drilling holes is developed. The robot is walking-positioningintegrated. The robot has redundant actuation, using force/position controlstrategy, to realize independent walking and high precision positioning, tomeet the requirements of drilling for aircraft component. This research mainlyincludes following aspects: 1. Mechanical system design. Design a parallel robot to meet therequirements of comprehensive walk and5DOF positioning for automaticdrilling system. Design robot mechanism configuration, establish robot directand inverse kinematics solution, and design robot structure.2. Automatic drilling process design. Analyse requirements of drillingprocess. Establish process of robot automatic drilling. Research poseadjustment in drilling process. Research robot gait. Influence factors ofdrilling error are analyzed.3. Research force/position hybrid control strategy. Introduce basicprinciple of robot control and commonly used control methods. Researchrobot force control strategy. For redundancy actuation, force/position hybridcontrol strategy is the key point of research. Robot multiple joint coordinationcontrol is also researched.4. Hardware configuration of robot control system. Analyse functionrequirements of robot. Control system is made up of upper and lowercomputer. Upper computer is a PC in charge of human-computer interaction.Lower computer is an embedded computer in charge of processing motionplanning, motion control, machine vision processing and etc. Motion controluses dc servo motor, machine vision uses CCD camera and laser displacementsensor, drilling uses high-speed motorized spindle. 5. Software development of robot control system. VC++6.0is used asdevelopment environment. Upper and lower computer communicate throughthe Ethernet. Upper computer takes charge task input module, offlinesimulation module, online state display module, system configuration moduleand log module. Lower computer takes charge motion planning module,motion control module, machine vision processing module, state detectionand monitoring module.6. Manufacture prototype. Verify the robot system meets the requirementsof drilling for aircraft component through experiment.