The Self-Adaptation Control Strategy Research Of Lightweight Auto-crawling Drilling & Riveting System

With the continuous improvement of the assembly quality, the high flexibility and intelligence have been the development trend of modern aircraft assembly technology.In the meantime, the traditional method for drilling and fastening the abutments of the large parts could not fulfill the requirement of the aircraft assembly, so the need for a new way is put forward. The automatic crawling robotic drilling and fastening system as a new kind of automation system solution, it relies on sucker adsorption on product surface to finish whole work and becomes the focus in the field of aviation manufacturing gradually with its miniaturization and high flexible characteristic. This article mainly embarks from the intelligent control strategy of the system and addresses the adaptive correction technology of processing task research. The main research content is as follows:(1) The adaptive control strategy of processing task of the drilling and riveting system is put forward according to the technical indicators. From the processing task requirements of system, the method of the positioning and walking paths and on-line detection of product is analyzed, and the adaptive control system is also studied.(2) Localization and walk path recognition of drilling and riveting system are designed according to the technical indicators. The actual work condition of the system is analyzed and put forward the requirements of the position detection,then the detail design is complished.The method based on monocular vision detecting is put forward. The localization algorithm and coordinate transformation are studied and Orientation detection method and correction algorithm is also studied. Multi station identification and method based on the gravity are put forward for detection and adjust of path.(3) The research work of the hole location and vertical accuracy is carried out. According to the technical indicators, the scheme of on-line detection is designed, the position error detection scheme based on visual inspection system and detection schem of vertical accuracy which is based on multisensory are studied. And the position error correction algorithm is studied for the test results and posture adjustment is design, the method of posture adjustment based on three degrees of freedom parallel mechanism is put forward, and the degree of freedom of the scheme is calculated, and the adjustment algorithm is studied then The simulation verification of the algorithm is completed by Matlab.(4) The experimental plan to test the drilling and fastening system is put forward, and the corresponding experimental platform are set.Then, the scheme of localization and path detection, the hole's location and vertical accuracy and posture adjustment are accomplished,and the experiment results confirm that the scheme in the article is feasible in structure and meets the requirements in the algorithm.