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A Method of Mobile Robotic Drilling Trajectory Planning for Large-Scale Components

[+] Author Affiliations
Mengyu Wang, Lianshui Guo

Beijing University of Aeronautics and Astronautics, Beijing, China

Yunzhi Zhang, Xuemei Liang

Beijing Aeronautical Manufacturing Technology Research Institute, Beijing, China

Paper No. IMECE2015-51448, pp. V02BT02A064; 8 pages
  • ASME 2015 International Mechanical Engineering Congress and Exposition
  • Volume 2B: Advanced Manufacturing
  • Houston, Texas, USA, November 13–19, 2015
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-5736-6
  • Copyright © 2015 by ASME


This paper conducts an in-depth research on mobile robotic drilling trajectory planning for large-scale components. And it proposes a path planning method of step-close for mobile robotic station. According to the thought of “drilling area-robot station-process step”, the drilling order is defined. By adding conditions and simulation, we also present a simple method of optimizing robot posture in this paper. Using the actual position and the nominal position of two reference holes, a correcting algorithm of three-dimensional transformation is introduced to improve the drilling accuracy. Taking the aircraft wing-box drilling as main study object, this paper develops a trajectory planning and a drilling simulation system on the CATIA and DELMIA platform to validate the effectiveness of the methods introduced. Experiments show that the trajectory planning method and the three-dimensional transformation method for correcting drilling position in this paper not only improves the wing-box drilling efficiency and accuracy, but also reduces the production cost.

Copyright © 2015 by ASME



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