Automatic stepping for circumferential splice drilling in aircraft fuselage assembly

作者：Zhu, Weidong^*; Zhang, Along; Mei, Biao; Ke, Yinglin

来源：Industrial Robot-The International Journal of Robotics Research and Application, 2016, 43(2): 144-152.

DOI：10.1108/IR-06-2015-0114

• Automatic stepping mechanism
• Docking position detection
• Circumferential splice drilling machine
• Fuselage assembly
• Magnetic proximity sensor

Purpose - A large number of fastener holes have to be drilled with high quality in the circumferential splice region during the assembly of aircraft fuselage. The purpose of this paper is to design an automatic stepping mechanism for a circumferential splice drilling machine, to meet the requirements of large workspace and high accuracy in drilling at the same time. @@@ Design/methodology/approach - A docking position detection method based on magnetic proximity sensors is proposed for the positioning of the arc-shaped rail with respect to the circumferential rails, which significantly improves the accuracy and reliability of automatic stepping. The slipping phenomenon of the end-effector is analyzed, and the optimized counter weights are used to eliminate the slipping and improve the working stability of the stepping mechanism. @@@ Findings - An automatic stepping mechanism is developed for the circumferential splice drilling machine, which comprises the docking position detection method and the elimination/suppression method of the end-effector's slipping. Practical implications - The proposed automatic stepping mechanism has been integrated into the circumferential splice drilling machine for the fuselage assembly in an aircraft company in China. @@@ Originality/value - An automatic stepping scheme for the circumferential splice drilling machine is proposed, which enhances the efficiency in circumferential splice drilling in aircraft fuselage assembly.

• 出版日期2016
• 单位浙江大学