Structure Design And Simulation Of Aircraft Skin Drilling Robot

At present,the aircraft assembly has higher requirements for the quality of spot facing machining.However,the traditional handmade hole has poor precision and low quality.So it can not satisfy needs.Robot technology can solve the problem of handmade hole better.Therefore,it has become a development trend to use robot technology in the aircraft drilling.Our research in this field is still in its initial stage.Therefore,the research of robot drilling technology has better application prospect and great research value.By analyzing.the present situation of domestic and foreign research on the existing aircraft skin drilling system,the advantages and disadvantages of the existing robot hole-drilling system are summarized.This paper presents a new type of multi-degree of freedom adjustable position and posture with adsorption device of drilling robot small arm that installed at the end of industrial robots.The structure of the robot small arm is mainly designed and analyzed.The industrial robot arm has been briefly improved design.The main content of this paper is:(1)According to technical indexes of each drilling system,the design requirements of small robot arm designed for this project are determined.Accor ding to drilling parameters,suitable drilling spindle is selected.After selecting spindle,the structure of the small robot arm was designed.A brief update on the lab’s current industrial robots could be used to carry robotic arm.This completes the design of the overall structure.(2)The kinematics model of small robot arm is established.The solution of Normal&Inverse Solution of Kinematics is completed.The length of the support shaft of the sucker is determined by the working space analysis.The overall working space is drawn,and the calculation of the Jacobian matrix is completed.(3)Using the static force of the manipulator to analyze the stress situation of the small robot arm.Using ANSYS Workbench finite element analysis software to analyze the stiffness and strength of each part.On this basis,structural optimization is carried out.The selection of the driving components is completed.Finally,the stability and strength of the suction support shaft are analyzed.(4)The shape of the skin is assumed,the drilling point is selected and the trajectory planning is completed with MATLAB robot toolbox.The simulation of drilling is completed by using ADAMS software,and the feasibility of the design is verified.