| With the growing popularity of industrial modernization and intelligent manufacturing,the field of aviation manufacturing is also developing towards intellectualization,automatic drilling and riveting technology of robot is one of the new technologies in aircraft assembly,the control method and control precision of drilling and riveting integrated system directly affect the quality and efficiency of assembly.In this paper,the key control techniques in the dual robot cooperative automatic drilling and riveting system are studied in depth,the specific contents are as follows:(1)The demand and overall work flow of the dual robot cooperative automatic drilling and riveting integrated system are analyzed,the overall hardware configuration and software configuration of the system are constructed,and the general control scheme of the automatic drilling riveting integrated system is designed.(2)The process characteristics of electromagnetic riveting technology is analyzed,the electrification transformation of electromagnetic riveter body and the controller is made,which realized the mechanical and electrical integration with robot system,hardware configuration and software configuration of the integrated control system of electromagnetic riveting equipment is established,the man-machine interface is also developed.(3)The simultaneity of two robots in the current system is analyzed,a distributed control method of dual robot is put forward,which ensures the synchronization of two robots on time;and corresponding cooperative motion control strategy is put forward for position and posture of two robots in application.(4)A dual robot automatic drilling & riveting experiment platform is built,the communication between the electromagnetic riveting system and the integrated system is verified;all coordinate systems are established by a laser tracker,the collaborative pose accuracy of dual robots is tested,which verifies the correctness of the method of cooperative control in this paper. |
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