Abstract：For the assembly requirements of the large parts of barrel section of the fuselage, the lightweight autocrawling
drilling system with two function modules composed of autonomous multi-leg mobile mechanism and multifunctional
end effector is designed. Based on the overall requirements of integrated control, the upper-lower computer hierarchical
control system is designed. And integrated control software of the host compute by using Microsoft Visual Studio
platform for planning tasks throughout the drilling and riveting system is developed , monitoring the implementation of onsite
machining task. Using software PLC technology of Beckhoff to realize real time control of terminal hardware of the
entire system. the hardware configuration based on industrial network and software configuration based on multi-software
platform are designed after making clear the overall scheme of integrated control. Finally, the robot’s walking and drilling
experiments are carried out on the surface tooling with different inclined angles. Experimental results show that the structure
design of the lightweight auto-crawling drilling system is reasonable, the performance of the integrated control system
is stable, the system can achieve the function of walking and drilling, and the quality of holes meets the requirements.
2017, 
