Abstract:

The application of automatic drilling/riveting(ADR) system realizes automation of the wing panel riveting assembly. However, a major obstacle to wing ADR in the past is the variation between ideal point coordinate in the model and the point position on the panel. The variation may come from the combining affect of locating error, clamping error, and selfweight deformation of bracket system. ADR process and error source are analyzed. The method of bidirectional obtaining is represented in details. Firstly, the error of z-direction is gained by establishing mapping between deformation of frame and the point on the panel, and deformation of frame is gained by finite element analysis. Secondly, the error of xy-direction comes from locating error of measuring the deviation between upper-riveting head and actual locating points. Then the offline compensation flow is shown step by step. Finally implementation on wing panel riveting is introduced, and the results demonstrate the functionality of the method.