The aeronautical drilling robot based on flexible track

Automatic drilling and riveting technology is one of the key technologies for developing the digital flexible assembly of a new generation of aircraft. With the development of ARJ21 and C919 aircraft, it is very important to study the low-cost, flexible and efficient robot drilling system, which not only realizes the drilling automation but also reduces the costs. The flexible track drilling robot experimental platform is designed and implemented, based on the automatic drill riveting, advanced robot mechanism and automatic control method. The hardware design, software control framework, robotic control process and experimental testing method are proposed in this paper. The validity of the robot system is verified through the automatic drilling experiments. The processing parameters of the aircraft assembly such as the consistency of automatic drilling, the surface smoothness, the normal verticality and so on, are enhanced through integrating the automatic drilling and intelligent robotic control technology. The aeronautical drilling robot provides technical support for the implementation of the aircraft digital flexible assembly.