Dynamic modeling and sensitivity analysis of dual-robot pneumatic riveting system for fuselage panel assembly

Abstract

Purpose – The purpose of this paper is to present a dual-robot pneumatic riveting system for fuselage panel assembly, including the system design, dynamic analysis and sensitivity analysis. The dual-robot pneumatic riveting system is designed to improve riveting efficiency and quality, thus finally replace the traditional two-man riveting mode where possible. Design/methodology/approach – The dual-robot pneumatic riveting system has been designed by considering vibration reduction for the tools and isolation for robots. Nonlinear multi-body dynamic model including clearance and collision is established for investigating the dynamic performance and analyzing the systemic sensitivities with respect to the key variations. Semi-implicit Runge–Kuta algorithm is used for solving the dynamic equations and shop experiments are implemented to verify the effectiveness of the numerical simulations. Findings – The simulation results show the tools can be held stably enough for riveting operation and the system sensitivity with respect to robot gesture can achieve the expected level. The experiment validates the proposed system with a good performance, and the riveting quality could adequately meet the requirements. The system is capable of installing an aluminum alloy countersunk 5 mm diameter rivet in 5 s. Practical implications – The dual robot pneumatic riveting system is successfully developed and test. It has been applied in a project of fuselage panel assembly in the aircraft manufacturing industry in China. Originality/value – To replace the traditional manual rivet installation, this paper presents a dual robot pneumatic riveting system and includes both the system design and dynamic analysis.

Elastic-plastic analysis and riveting energy control for dual-robot pneumatic riveting system

“…The riveting gun works at rated air pressure and air pressure remains stable during riveting. 20 A solenoid valve is controlled by programs to switch the air flow of the rivet gun, thereby realizing the control of the riveting impact energy. Figure 7 shows the developed dual-robot pneumatic riveting cell for fuselage panel assembly.…”

Design and Analysis of a Robotic End-Effector for Automated Hi-Lok Nut Installation

“…Robotic drilling technology has matured after many studies on system integration, software development and robotic drilling parameters [9][10][11]. Robotic riveting technology has also been developed for single robot riveting and dual-robot riveting [12,13]. For the specific fastening operation in the aircraft wing-box, a new manipulator has been designed and the fastening process in narrow space is developed [14].…”

A practical implementation of robotic riveting cell for wedge parts of airframe

“…3 Aerospace manufacturers and research institutes have performed plenty of work on automation integration for airframe assembly. Different integration forms (drill-countersink, drill-rivet), different riveting types (percussive riveting, 4 pressing riveting, 5 electromagnetic riveting 6 ), and different equipment forms (special equipment, 7 single arm, 8 cooperative robots 9 ) have all acquired some achievements. However, among those various riveting types, riveting on wedge parts has been rarely reported.…”