Research On Optimization Of Automatic Drilling And Riveting Multifunctional End Effector

In the area of aerospace manufacturing, the technology of flexible assembly drilling and riveting, based on industrial robots, with its significant advantages of high efficiency, high quality and reliability, has become one of the important trends of digital aircraft flexible assembly. As coordinating kernel of a flexible assembly drilling and riveting system, automatic drilling and riveting multifunctional end effector, which’s performance has a direct impact on the quality of product processing. In this paper, a type of automatic drilling and riveting multifunctional end effector was designed for aircraft composite structures.Then, by using finite element method, the performance of the effector modal, static and transient was analyzed. Also, the dynamic performance of the equipment was studied for improving the processing rhythm of the effector.Finally, the effectiveness of the process was verified by the relevant experimental platform. The main research content of this paper is as follows:(1) An overall design of the automatic drilling and riveting multifunctional end effector was put forward for composite vertical tail structures. The working principle of the tail was analyzed in detail, and the design scheme of each functional module of the system was completed.At the same time, the control system of the effector was built;(2) Base on the analyzing of mechanical structure of each module in detail and combing equipment processing conditions, a finite element model of the effector was established. With that, the strength and stiffness of the effector was checked & the weight of the effector was reduced;(3) By researching the modal of the effector, a test plan was determined in detail. With the test results, the real modal of the effector was analyzed for improving the rigidity of the effector. It provides the basis for the optimization of process parameters;(4) The research on automatic drilling and riveting multifunctional end effector dynamic performance was put forward, also the parameters of every motor.Then the rhythm of the device based on theory was designed. After that, a testing platform for the experiment was build up, and the experiment was carried out after debugging equipment. Finaly, the experiment results showed the device met the design targets.