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Aircraft structures are mainly connected by riveting joints, whose quality and mechanical performance are directly determined by vertical accuracy of riveting holes. This paper proposed a combined vertical accuracy compensation method for drilling and riveting of aircraft panels with great variable curvatures.

The vertical accuracy compensation method combines online and offline compensation categories in a robot riveting and drilling system. The former category based on laser ranging is aimed to correct the vertical error between actual and theoretical riveting positions, and the latter based on model curvature is used to correct the vertical error caused by the approximate plane fitting in variable-curvature panels.

The vertical accuracy compensation method is applied in an automatic robot drilling and riveting system. The result reveals that the vertical accuracy error of drilling and riveting is within 0.4°, which meets the requirements of the vertical accuracy in aircraft assembly.

The proposed method is suitable for improving the vertical accuracy of drilling and riveting on panels or skins of aerospace products with great variable curvatures without introducing extra measuring sensors.