摘要：To ensure the perpendicularity of drilling holes in aircraft manufacturing, the attitude of spindle axis must be adjusted to coincide with the normal vector of drilling point before drilling. The double eccentric discs-spherical pair structure was used as attitude adjustment mechanism in drilling end-effector. Therefore, the attitude adjustment algorithm of spindle axis is proposed in this article. There were two attitudes for current and target position, respectively, and the rotation sequence of each eccentric disc would affect the attitude adjustment efficiency. This article presents the path planning and optimal solution choosing from multiple solutions. Finally, the effectiveness and accuracy of the algorithm are verified in simulation and drilling experiment, resulting in a normality tolerance of ±0.5° and precision of H9.
