Countersinking Accuracy Control Technology of Robot Drilling and Countersinking Integrated Drilling

Aiming at the problem that: accuracy of countersink will affect the connection strength of aircraft structural parts, aerodynamic performance and fatigue strength of aircraft. A high-precision length meter is used to compensate the error caused by deformation and vibration to the tool. The grating ruler is used to obtain the tool position in real-time to form a closed-loop system. A full closed-loop compound control method based on PID control and feedforward control with low-pass filter is proposed to control the countersinking depth. The proposed control model is verified by the robot drilling and countersinking integrated drilling experiment. The experiment shows that compared with the traditional control method, the countersinking depth error of this control method is the smallest. The effectiveness to improve the accuracy of drilling is verified.