ROBOTIC CELL INTEGRATION FOR SCREWING OF AIRCRAFT WING PANELS

Gustavo de Melo Carvalho¹; Emília Villani¹; Kleber Roberto da Silva Santos¹

¹ Instituto Tecnológico de Aeronáutica

Baixar PDF doi:10.20906/CPS/CBA2018-0781

Resumo

The screwing of fasteners in the aeronautical industry has strict specifications and quality control requirements. The feasibility of automating these processes represents a major challenge for aircraft manufacturing and contributes to a competitive market. In this work, we present a solution based on the KUKA collaborative robot, LBR IIWA 14 R820, which is current under development at the Aeronautics Institute of Technology (ITA) within the Center for Manufacturing Competence (CCM). The focus of this paper is on the integration and coordination of the equipment that compose the manufacturing cell. A computer vision system is attached to the end-effector to identify the position of the holes to be screwed. A perpendicularity system, composed of a laser sensor, is used to ensure that the perpendicularity error of the robot is within the accepted margin during the application. The algorithm for localizing holes, correcting the position and orientation of the robot, and performing the screwing operation emerges from the integration of all the components. It is first verified in a simulation environment based on the system modelling as a network of timed automata. We then implement and test it in a demonstrator that emulates the process to be performed in an aircraft wing. This work is related to the AME-ASA Project, under development at ITA, in partnership with Embraer and supported by FINEP.

Palavras-chave: Automaton; Screwing; iiwa robot; vision system; automation