Studv On Robot Automatic Drilling Technology Of Carbon Fiber Reinforced Plastics(CFRP)

Aircraft digital assembly has become the development tendency of aircraft manufacture because of its high efficiency, high quality and low human cost. As one of the most important parts in aircraft digital assembly, the hole quality is the key factor of aircraft fatigue life. Robotic automatic drilling system, which could integrate laser tracker system, moving platform and end effector, is one of the best solution in hole processing of aircraft. It has the advantages such as high automation, adaptability and integration. There is much engineering application value to research into the key technologies and applications of industrial robot aided aircraft digital assembly using theoretic analysis, simulation and experiments verification. Referring to the development of aircraft materials, carbon fiber reinforced plastics (CFRP) has been used in more and more field in aircraft industry. The physical property and mechanical property of CFRP is quite different from aluminum alloy and titanium alloy, so the high efficiency, high quality processing technics of CFRP has become a research direction. There are5chapters in this thesis. In chapter1, the background and the significance of this dissertation are introduced first. Then, the state of the robot drilling technology at home and abroad is summarized as well as the applications of processing of CFRP. Finally, contents and overall frame structure of this dissertation are shown. In chapter2, the main content is focused on hardware and software system of robot drilling, which involves the robot, moving platform, end effector, laser tracker and offline programming and simulation system. The workflow of this system is introduced based on these hardware and software. In chapter3, based on the laser tracker system and robot vision system, the high precision locating of robot drilling system is researched in the aspects of establishment of coordinate systems, robot kinematic accuracy, location deviation correction and surface-normal deviation correction. In chapter4, the processing technics, assessing of hole quality, axial drilling force, optimization of processing parameters and tool wear about robot drilling of CRRP are analyzed deeply. In chapter5, the systematical summary for the whole work is given, and the prospect is discussed.