Research On Robot Precision Drilling

It is a trend in the aviation industry to develop precision drilling system in the process of aircraft assembly. However, there is still a wide gap between the advanced drilling systems abroad and the traditional manual drilling in China. It is of great project significance to research on the precision drilling using industrial robot and auto-feed drill. By means of theoretical analysis, simulation and experiments, this desertation conducted an in-depth research on precision drilling system based on industrial robot and auto-feed drill.In the first chapter, the research and application status of automatic drilling systems in the aircraft assembly at home and abroad are introduced firstly. Then key techniques such as the application of industrial robot, the calibration and measurement system using laser tracker and the design of auto-feed robot drilling end-effector are analyzed. Finally the background and overall framework are given.In the second chapter, the precision drilling system using industrial robot is introduced. The mechanical structure is carried out in detail. The mechanical structure of the system includes an industry robot, an auto-feed drill and a laser tracker measurement system.In chapter three, the theoretical foundation of precision drilling system are introduced, including rigid body transformation theory, industrial robot route planning.In chapter four, the calibration method of the precision drilling system is introduced. The calibrations between the world frame, the laser tracker measurement frame, the robot base frame, the tool frame, the laser tracker target ball frames and the work object frame are introduced in detail and experimental data is given. The efficiency and accuracy can be improved significantly.Chapter five introduces the experimental results on the precision drilling system. The error compensation method using a laser tracker based on Singular Value Decomposition is proposed. Experimental result shows that the feedback error compensation method can improve the accuracy of robot drilling.In the end, summary for the whole work in this dissertation is given, and the future work is discussed.