Improved Dynamic Positioning of High Speed Drilling Robots for Aerospace Composite Manufacturing

用于航空航天复合材料制造的高速钻孔机器人的改进动态定位

• 批准号: 543739-2019
• 负责人: Khoshdarregi, Matt
• 金额: $ 1.82万
• 依托单位: University of Manitoba
• 依托单位国家: 加拿大
• 项目类别: Engage Grants Program
• 财政年份: 2019
• 资助国家: 加拿大
• 起止时间: 2019-01-01 至 2020-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=680776
• 关键词: Improved; Dynamic; Positioning; Speed; Drilling

Due to their versatility and large working volume, industrial robotic arms have been increasingly integrated into the aerospace industry to improve the efficiency and reliability of manufacturing operations. Boeing Winnipeg is the largest aerospace composite manufacturer in Canada producing complex fiberglass and carbon composite structures for Boeing Commercial Airplanes. Preparation of some of these composite structures involves drilling of large patterns of small holes, which is performed by a high speed robotic drilling system. During this operation, the robot must constantly undergo rapid acceleration and deceleration stages, which lead to excessive oscillations at the end-effector (tool holder). Tool vibrations result in geometric errors, poor hole quality, and possibly, violation of the required tolerance. This project aims at developing passive and active control techniques to suppress structural vibrations in high speed robotic drilling systems.The proposed research collaboration will result in systematic and scalable control techniques which enable robotic manufacturing systems to perform their operations at higher speeds with enhanced accuracy and reliability. In particular, the outcome of this project will help Boeing Canada Winnipeg to remain internationally competitive by providing them with fundamental knowledge, innovative technologies, and HQP training to enable them to increase their throughput, decrease cost and lead times, improve part quality, and ultimately, enhance the reliability, safety, and cost-efficiency of airplanes.

工业机械臂由于其多功能性和大工作量，已经越来越多地融入航空航天工业，以提高制造作业的效率和可靠性。波音温尼伯是加拿大最大的航空复合材料制造商，为波音商用飞机生产复杂的玻璃纤维和碳复合材料结构。其中一些复合材料结构的准备涉及由高速机器人钻孔系统执行的大图案小孔的钻孔。在此操作过程中，机器人必须不断经历快速加速和减速阶段，这会导致末端执行器(刀架)出现过度摆动。刀具振动会导致几何误差、孔质量差，并可能违反要求的公差。该项目旨在开发被动和主动控制技术，以抑制高速机器人钻探系统中的结构振动。拟议的研究合作将导致系统和可扩展的控制技术，使机器人制造系统能够以更高的速度执行其操作，并提高精度和可靠性。特别是，该项目的成果将帮助波音加拿大温尼伯保持国际竞争力，为他们提供基础知识、创新技术和HQP培训，使他们能够增加吞吐量，降低成本和交货期，改善部件质量，最终提高飞机的可靠性、安全性和成本效益。