Static stiffness modeling for optimizing drilling and riveting robots

GUAN Liwen; CHEN Zhixiong; LIU Chun; XUE Jun

doi:10.16511/j.cnki.qhdxxb.2021.22.001

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Journal of Tsinghua University(Science and Technology) ›› 2021, Vol. 61 ›› Issue (9) : 965-971. DOI: 10.16511/j.cnki.qhdxxb.2021.22.001

MECHANICAL ENGINEERING

Static stiffness modeling for optimizing drilling and riveting robots

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Abstract

Automatic robotic drilling and riveting greatly improve aircraft assembly quality and flexibility while reducing costs, so automatic drilling and riveting are being widely used for aircraft assembly. However, almost all robotic drilling and riveting systems are based on six degrees of freedom serial robots. However, these robots have an inherent weakness due to their poor rigidity. Large pressing and drilling forces during drilling and riveting can lead to deformation and even flutter of the robot end actuator, which seriously affect the drilling and riveting accuracy and quality. A static stiffness model of a drilling and riveting robot is developed with joint stiffness measurements to predict robot joint stiffnesses. A stiffness evaluation index is then used to characterize the robotic arm stiffness in the working space. The stiffness index can be used to optimize the robot position and posture for a specific operation using a particle swarm algorithm to improve the stiffness. This improves the system stability and quality.

Key words

industrial robot / static stiffness / joint stiffness identification / stiffness performance / particle swarm algorithm / pose optimization

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GUAN Liwen, CHEN Zhixiong, LIU Chun, XUE Jun. Static stiffness modeling for optimizing drilling and riveting robots[J]. Journal of Tsinghua University(Science and Technology). 2021, 61(9): 965-971 https://doi.org/10.16511/j.cnki.qhdxxb.2021.22.001

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