中文摘要：

铆接是飞机装配中的一种重要连接方式,铆接孔的垂直度精度对铆接质量有重要影响。传统的手工制孔存在加工质量低、工作强度大和效率低下等问题,已经不能满足高精度和高质量的飞机装配要求。针对飞机蒙皮铆接孔垂直度精度的自动制孔问题,提出了一种高精度的自动制孔方法。采用四点曲面测量方法获得制孔点法线,并通过双偏心盘调姿机构来实现制孔点法线与钻头轴线的重合,实现了高精度的制孔。在航空制孔机器人上进行了制孔试验,试验结果验证了该方法的正确性和有效性。

英文摘要：

Riveting is one of the most crucial connections in aircraft assembly. The perpendicularity accuracy of riveting holes has important influence on the quality of riveting. Traditional manual drilling method exists in low quality, highintensity and low efficiency problem. It cannot meet the high quality and precision requirement of aircraft assembly. In order to solve the perpendicularity accuracy of riveting holes in automatic drilling, a high precision drilling method is proposed. The normal of drilling point is obtained with the four-point surface normal measurement method. The double eccentric discs mechanism is design to achieve the coincidence of the drill axis and the normal at drilling point, then realize the goal of high precision. The drilling experiments are carried out on the aviation drilling robot, and the experimental results demonstrate the correctness and effectiveness of the drilling method.