Force Controlled Robotic System for Drilling and Riveting One Way Assembly

Abstract

<div class="section abstract"><div class="htmlview paragraph">Drilling and riveting needs high accuracy for aircraft parts assembly. Major manufacturers look for flexible solutions to match their modern requirements and specific process.</div><div class="htmlview paragraph">SPIE & ABB have developed an innovative force controlled robotic system with high clamping force to allow drilling and riveting multi-material structures. It will fulfill the one-way assembly requirements in several types of aeronautics applications.</div><div class="htmlview paragraph">Normality and anti-slipping are solved using force-control solution: a 6 components force sensor measures forces and moments at the pressure foot to correct normality and to avoid slipping. A high pressure clamping force directly controlled by robot allows a one-way drilling and riveting cycle. Accuracy is performed by absolute calibration and optical reference setting directly on aircraft part.</div><div class="htmlview paragraph">The new drilling, sealing and riveting end effector achieves peak drilling, stack thickness measurement, cutting condition adjustment and drill break detection. It is based on a linear motor feed axis in order to optimise accuracy and dynamic. Movement without mechanical parts leads to better accuracy, less wear and altered settings.</div><div class="htmlview paragraph">SPIE FX-Robotic Cell combines all these technological advance to propose a new flexible and efficient drilling-riveting robotic cell</div></div>