Integration And Optimization Of The Autonomous Mobile Robotic Drilling System

At the call of the power strategy of ?Made in China 2025?,the domestic aviation manufacturing industry is from the traditional manufacturing model to the transition to intelligent manufacturing.In order to meet the processing requirement of large aircraft manufacturing,assembly process equipment is moving in the intelligent,flexible,light direction.The efficient and reliable lightweight autonomous mobile robotic drilling system for large aircraft automatic assembly is particularly significant.This article mainly integrates and optimizes the autonomous mobile robotic drilling system for the assembly of middle section of the fuselage.And finally the autonomous mobile robotic drilling system can walk steadily,detect benchmark,adjust the normal attitude and drill with high-precision on the surface of large aricraft.The main research is as follows:(1)According to the characteristics of large aircraft fuselage,the requirement and task of the autonomous mobile robotic drilling system are analyzed in detail.The overall workflow and control strategy are determined and a hierarchical software configuration design and a topological hardware configuration mode are proposed.(2)Integrated the autonomous mobile robotic drilling system.Developed the control software based on architecture and component reuse.And integrated all hardware devices based on the EtherCAT fieldbus.(3)The modularized function testing scheme of the autonomous mobile robotic drilling system is designed.The walking,benchmarking,normalizing and drilling functions of the system are tested.The improved method of structure and control is put forward,and the system is optimized synthetically.(4)The finite element simulation and modal experiment results for the autonomous mobile robotic drilling system are analyzed,and the optimization and improvement suggestions are put forward for the system structure of the late-stage system.The experimental results of the modal experiment are validated by the drilling experiment,and the drilling process is optimized.