Abstract：For the control of aircraft automatic assembly of robot automatic drilling and riveting system, an automatic
drilling and riveting equipment used an industrial robot as the carrier and based on Beckhoff control system is designed.
The control system brings the industrial robot, extended floor rail, multifunctional end effector, tool magazine and
other ancillary equipment together through the core of Beckhoff control software based on fieldbus mode, which can realize
the real-time control of the machining site. And through a series of precision compensation measures in many aspects of the
error to improve the accuracy of compensation, experiments show that the system can produce any hole with a positioning
precision within ±0.5mm, a perpendicular accuracy within 0.3°, a diameter tolerance of H8, a countersink depth tolerance
of ±0.01mm.
2017, 
