The Design And Control Of Automatic Drilling End-effector

In modern times,in order to meet the requirements of modern aircraft technology and production cost,a variety of automated assembly technology has been developed in aviation manufacturing field.However,the automatic drilling technology is one of the key technologies;the use of automatic drilling technology can greatly improve the fatigue resistance of aircraft mechanism and prolong the service life of aircraft.The key technology of automatic hole making include the design of the end-effector of the hole,the hole position accuracy,the normal accuracy control,and the end-effector motion control technology.The main contents of this paper are as follows:To start with,according to the assembly requirements of aircraft components,the functional requirements of the end-effector are analyzed,the main technical parameters of the end-effector are set;two overall design schemes are given,the design method based on function structure is selected;the function structure of the end-effector is designed,and the working process of the end-effector is given.Then,this paper introduces the hardware components and the main hardware of the robot automatic drilling control system;introduces the laser tracker and the detection principle of the laser displacement sensor;analyzes the control of robots and end-effector by industrial control computer.Next,the kinematics and dynamics equation of the robot in the drilling system is introduced,according to the structure of the type of joint coordinate robot selected based on the D-H model to obtain the geometric parameters of the D-H model;the dynamic equation of the end-effector is given under the ideal condition and corrected;using the controller decomposition method to design the PD controller which is based on the model,and the system is simulated by Simulink and verified by using step signal and sine signal.Through the PD control simulation results it can be seen: using the PD controller method based on the model can restrain the influence of friction torque and torque disturbance to a certain extent,and can adapt to certain model error.In the last,dealing with the compaction force analysis and control of the clamping unit.The dynamic model of the clamping mechanism is obtained by its modeling;the working principle of the model adaptive controller and the structure of the model reference adaptive control system are introduced;according to the performance index of the reference model,the reference model of the clamping mechanism is obtained,by using the method of model reference adaptive controller to design the adaptive model reference force controller,and verify the effectiveness of the method by Simulink simulation.