Design and Implementation of Multifunctional Automatic Drilling End Effector

In order to realize the automatic drilling in aircraft assembly, a drilling end effector is designed by integrating the pressure unit, drilling unit, measurement unit, control system and frame structure. In order to reduce the hole deviation, this paper proposes a vertical normal adjustment program based on 4 laser distance sensors. The actual normal direction of workpiece surface can be calculated through the sensors measurements, and then robot posture is adjusted to realize the hole deviation correction. A base detection method is proposed to detect and locate the hole automatically by using the camera and the reference hole. The experiment results show that the position accuracy of the system is less than 0.3mm, and the normal precision is less than 0.5°. The drilling end effector and robot can greatly improve the efficiency of the aircraft parts and assembly quality, and reduce the product development cycle.