End stiffness modeling for automatic horizontal dual-machine cooperative drilling and riveting system

Aircraft panel automatic drilling and riveting system is the key equipment to realize aircraft panel assembly with high efficiency and quality. In practical application, automatic drilling and riveting system should bear cyclic riveting force with large load, which means such systems must have enough stiffness to deal with this situation. The stiffness of each components in automatic drilling and riveting system reflects as the end stiffness finally; in the meanwhile, end stiffness and riveting ability of the system will be affected when the posture of the system changes. According to this situation, stiffness matrixes related to mechanics characteristic of motion axes, transmission parts, inner-side working head, and outer-side working head of automatic horizontal dual-machine cooperative drilling and riveting system are established, in which the Jacobi matrix method, point transformation matrix method, and finite element analysis are applied. Finally, the static end stiffness model is proposed based on multi-body small deflection theory. The end stiffness model has been validated through experimental measurement, and the stiffness relationship of dual-machine tool system was obtained, which applied important data for structure optimization and control system design.