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Volume 40 Issue 7
Jul.  2014
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Journal of Beijing University of Aeronautics and Astronautics  > 2014  >  40(7): 988-993.
Wang Qishen, Yuan Peijiang, Wang Tianmiao, et al. Design and experiment of adjusting mechanism in aviation drilling end effector[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(7): 988-993. doi: 10.13700/j.bh.1001-5965.2013.0471(in Chinese)
Citation: Wang Qishen, Yuan Peijiang, Wang Tianmiao, et al. Design and experiment of adjusting mechanism in aviation drilling end effector[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(7): 988-993. doi: 10.13700/j.bh.1001-5965.2013.0471(in Chinese)
shu

Design and experiment of adjusting mechanism in aviation drilling end effector

doi: 10.13700/j.bh.1001-5965.2013.0471

  • Robotics Institute, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

  • Received Date: 07 Aug 2013
  • Publish Date: 20 Jul 2014
    Abstract
  • Aiming at the robot drilling perpendicularity in aircraft assembly, an adjusting attitude mechanism was designed using double eccentric discs. First, the normal at the drilling point was measured by four laser range sensors and the intersection point of the normal and the adjusting plane was calculated. Then the angles of eccentric discs should be rotated can be obtained and adjusting motors drived the mechanism to adjust the drill's attitude. The trait of the mechanism is that the drill's point can keep static when adjusting the drill's attitude. Thus, it can be avoided to remove the drill's point position. A model was simulated in ADAMS and a drilling experiment was done on a robot drilling system and both the results prove the principle of adjusting attitude mechanism.

     

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