关键词: 机器人制孔, 大型复杂构件, 末端执行器, 定位精度, 工艺过程控制

Abstract: Hundreds of thousands of mechanical connection holes need to be drilled in the manufacturing and assembly of large and complex components of aerospace equipment, and thus hole-making efficiency and processing quality are the key to ensure the performance and reliability of an aircraft. For Drilling holes with robot has the advantages of high flexibility, high quality consistency and high normal accuracy, the use of robots to make holes for aircraft components has become popular in aerospace manufacturing companies in recent years. However, due to the weak rigidity of industrial robots and the difficult processing of stacked structure material, robotic drilling systems are prone to processing instability, which seriously restricts the further improvement of drilling quality and efficiency. At present, domestic and foreign scholars have carried out theoretical and experimental research on robotic machining equipment, hole-making system accuracy control and robotic hole-making stability, which have achieved many results, but the depth and breadth of research on robotic drilling stability and machining quality control still have a large room for improvement. To this end, this paper summarizes and condenses the domestic and international literature from four aspects:robotic hole-making end-effector design technology, robotic hole-making positioning accuracy control technology, robotic hole-making process control technology, and robotic hole-making equipment development, with the aim of providing guidance for further research on robotic hole-making technology for large and complex components.

Key words: robotic drilling, large and complex components, end effector, positioning accuracy, process control