Research On Industry Robot Precision Drilling

Robot drilling technology is the most broad and mature robot technology in the aviation manufacturing field in overseas. However, it is at the stage of beginning in domestic. So it has key reality meaning to research on robot drilling technology in order to improve the international competitiveness of our plane and develop the aviation manufacturing field. This dissertation is aimed at the direction of robot automatic high-speed precision drilling system, and it has in-depth research on umpty pivotal technology of robot drilling system.In chapter 1, the background and the significance of this dissertation are introduced firstly. Then the application of advanced assembly connection technology in the field of aerospace in overseas is summarized. Also the application of robots in advanced drilling technology is described in detail, the application of laser track and CATIA are described simply at the same time. Finally, contents and overall frame structure of this dissertation are shown.In chapter 2, the mechanical system structure of robot is expatiated firstly. Then the universal D-H kinematics model and spinor model are established. The direct and inverse kinematics, workspace are analyzed. After that the singularity and the dexterity are discussed in detail. Finally the result of analysis of dexterity of IRB 6600 is given out.In chapter 3, the structure of robot drilling system is amply introduced. The structure of robot drilling process system is introduced in detail. Then the effect of robot automatic control system in robot drilling system is described simply. Finally robot drilling programming system is introduced. All these technologies are prepared for robot automatic precision drilling system.In chapter 4, the signification of every coordinate system which is involved in the process of robot drilling is discussed. A sample of process of establishing every coordinate system is shown.This chapter and chapter 3 together lays the foundation for robot automatic precision drilling tests. In chapter 5, the robot drilling test is depicted. Then different processing test analysis are done in order to validate the feasibility of robot drilling:drilling test analysis on flat, first drilling and second reaming test analysis on flat, countersinking test analysis on flat, and countersinking test analysis on surface. Finally a conclusion that the robot drilling is feasible is given.In chapter 6, summary for the whole work in this dissertation is given, and the future work is discussed.