Method Research On Robotic Off-line Task Planning Of Robot Automatic Drilling And Riveting System

Robot automatic drilling and riveting technology has become a hot research topic and important direction in the field of aviation manufacturing at home and aboard. To promote the assembly level of Chinese aviation manufacturing, it is very important to study the robot automatic drilling and riveting technology positively. As one of the key technologies in the robot automatic drilling and riveting technology, off-line programming technology is a significant way to improve the processing quality and efficiency of the product. Combining with the actual project requirements, some key technologies of the off-line programming system were studied. The main research content is as follows:(1)The working principle of the robot automatic drilling and riveting system was expounded. The off-line task planning demand of the process equipment was introduced in detail. And on this basis, the overall scheme of the mission planning was put forward for the off-line programming system of the robot automatic drilling and riveting system.(2)The characteristics of feature technology and the model-based definition(MBD) technology in digital assembly were illustrated. With the combination of the MBD technology and the feature technology, a quickly adding technology for the processing features of assembly holes was proposed. With the MBD model as basic unit, an information model of the product processing features was constructed by processing features in which geometry and process information of the model was combined.(3)The mathematical model and the optimization method of the TSP problem were explained. The process constrains of the path planning of the robot automatic drilling and riveting was analyzed, then the multiple-constrained and shortest path optimization was proposed. At last, the ant colony annealing hybrid optimization algorithm was studied which was used to optimize the robot processing path.(4)The off-line programming system of the robot automatic drilling and riveting for aircraft was introduced. Then the implementation flow of the quickly adding technology for the processing features of assembly holes was elaborated and verified. Then the optimization method of robot processing path was simulated and analyzed and finally was applied to the off-line programming system.