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

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.

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.

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.

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.

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.