交点孔的加工精度对飞机的平衡性、机动性和疲劳寿命有重要影响。传统飞机装配中采用固定的精加工平台配以成形刀具的方法无法补偿装配变形引起的交点孔位姿误差。本项目提出采用工业机器人携带镗孔终端执行器、压脚构成的弱刚度镗孔系统，对交点孔系进行精镗加工。该多体系统的动力学模型构建及其在交变切削力下的颤振识别与抑制是该课题的最大难题。首先研究机器人镗孔系统多体耦合非线性模型，揭示该系统多体结构动态特性和系统颤振机理，建立该弱刚度系统的动力学模型；进而基于刚度和固有频率优化机器人位姿，构建包含切削参数和刀具参数的机器人镗孔切削力模型，获得机器人稳定镗孔切削条件；提出颤振抑制策略，构建机器人镗孔系统颤振在线监测及预报系统，实现颤振的有效抑制，最终获得机器人稳定镗孔机制和大幅度提高飞机交点孔加工精度的工艺系统，实现难加工材料交点孔的高质、高效加工。该项目对于提升我国飞机制造水平和国防建设都具有重要意义。

Aircraft intersection holes are important to equilibrium， manoeuvrability and wear life of aircraft.Reaming was used to machining intersection hole with complex fine machining table and forming cutter in traditional aircraft assembly. This old method can not compensate posture error of intersection holes caused by assembly deformation. A new boring technology using industry robot with boring end-effector and pressure foot is proposed to machining high-strength steel and titanium alloy intersection holes in this project. The rigidity of this machining system is poor. To improve machining stability of the industry robot boring system, multi-body coupled and nonlinear model will be studied and contructed to illustrate the dynamic characteristic and chatter mechanism of the system; To achieve machining conditions of basic stability, robot posture optimization based on rigidity and natural frequency will be studied. Boring force model including machining parameters and tool angles will be contructed then. On-line monitoring and forecasting system will be constructed to suppress chatter of the system effectively. The final objective of the projec is to solve the problem of how to meet processing stability, to get a fine machining system and method of machining intersection holes precisely and effectively. This project is of great significance for improving the aircraft assembly ability and defense of our national.