Development of intelligent design platform for robotic drilling system based on CBR

To enhance the perpendicularity accuracy in the robotic drilling system, a normal sensor calibration method is proposed to identify the errors of the zero point and laser beam direction of laser displacement sensors simultaneously. The procedure of normal adjustment of the robotic drilling system is introduced firstly. Next the measurement model of the zero point and laser beam direction on a datum plane is constructed based on the principle of the distance measurement for laser displacement sensors. An extended Kalman filter algorithm is used to identify the sensor errors. Then the surface normal measurement and attitude adjustments are presented to ensure that the axis of the drill bit coincides with the normal at drilling point. Finally, simulations are conducted to study the performance of the proposed calibration method and experiments are carried out on a robotic drilling system. The simulation and experimental results show that the perpendicularity of the hole is within 0.2°. They also demonstrate that the proposed calibration method has high accuracy of parameter identification and lays a basis for high-precision perpendicularity accuracy of drilling in the robotic drilling system.

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Robotic Drilling System for 737 Aileron

10.4271/2007-01-3821 ◽

2007 ◽

Cited By ~ 38

Author(s):

Joe Atkinson ◽

John Hartmann ◽

Simon Jones ◽

Peter Gleeson

Keyword(s):

Robotic Drilling ◽

Drilling System

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A research on the mounted configuration of end-effector for robotic drilling

Robotica ◽

10.1017/s0263574714001313 ◽

2014 ◽

Vol 33 (10) ◽

pp. 2156-2165 ◽

Cited By ~ 3

Author(s):

Jie Liang

Keyword(s):

Energy Consumption ◽

Aircraft Industry ◽

Positional Accuracy ◽

Small Energy ◽

End Effector ◽

Clamp Force ◽

Passive Torque ◽

Robotic Drilling ◽

Calculation Results ◽

Drilling System

SUMMARYThe flexible robotic drilling system has been widely used in the aircraft industry in recent years. There are three ways to attach an end-effector to a robot, which are the pointing configuration, the hanging configuration, and the side configuration. The simulation model of robot and workpiece is constructed by using MATLAB software. According to the three configurations, reachability, manipulability, joint useability, and joint passive torque of a robot are calculated by means of the MATLAB language. Based on the calculation results and various measures, the performance, including reachability, manipulability, joint useability, and deformation, of a robot are analyzed. The analysis results show that the pointing configuration has the best reachability, a long service life, and small energy consumption, and it substantially reduces the fifth axis joint passive torque produced by the clamp force, which will improve positional accuracy of holes; the hanging configuration and the side configuration improve robot's manipulability and are suitable for drilling in the curved surface.

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Coordination error control for accurate positioning in movable robotic drilling

Assembly Automation ◽

10.1108/aa-04-2015-024 ◽

2015 ◽

Vol 35 (4) ◽

pp. 329-340 ◽

Cited By ~ 9

Author(s):

Biao Mei ◽

Weidong Zhu ◽

Huiyue Dong ◽

Yinglin Ke

Keyword(s):

Error Control ◽

Vision System ◽

Aviation Industry ◽

Accurate Estimation ◽

Positioning Accuracy ◽

Content Type ◽

Positioning Errors ◽

Aircraft Manufacturing ◽

Robotic Drilling ◽

Drilling System

Purpose – This paper aims to propose a roadmap to control the robot–subassembly (R–S) coordination errors in movable robotic drilling. Fastener hole drilling for multi-station aircraft assembly demands a robotic drilling system with expanded working volume and high positioning accuracy. However, coordination errors often exist between the robot and the subassembly to be drilled because of disturbances. Design/methodology/approach – Mechanical pre-locating and vision-based robot base frame calibration are consecutively implemented to achieve in-process robot relocation after station transfer. Thus, coordination errors induced by robotic platform movements, inconsistent thermal effects, etc. are eliminated. The two-dimensional (2D) vision system is applied to measure the remainder of the R–S coordination errors, which is used to enhance the positioning accuracy of the robot. Accurate estimation of measured positioning errors is of great significance for evaluating the positioning accuracy. For well estimation of the positioning errors with small samples, a bootstrap approach is put forward. Findings – A roadmap for R–S coordination error control using a 2D vision system, composed of in-process relocation, coordination error measurement and drilled position correction, is developed for the movable robotic drilling. Practical implications – The proposed roadmap has been integrated into a drilling system for the assembly of flight control surfaces of a transport aircraft in Aviation Industry Corporation of China. The position accuracy of the drilled fastener holes is well ensured. Originality/value – A complete roadmap for controlling coordination errors and improving positioning accuracy is proposed, which makes the high accuracy and efficiency available in movable robotic drilling for aircraft manufacturing.

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