Design and experiment of human-robot collaborative intelligent riveting system based on compliant control technology

In order to solve the problem of unstructured environments in the riveting assembly process of aircraft. A human-robot collaborative intelligent riveting system based on compliant control is proposed, which mainly consists of a UR robot, a six-dimensional force sensor, an impact force sensor, a bucking bar, a controller and other components. The experimental time of robot riveting is similar to simulation time, and the quality of human-robot collaborative riveting is obviously higher than that of robot automatic riveting. Through virtual simulation and experiments, this system not only addresses issues such as poor positioning accuracy and poor riveting quality in robotic automated riveting but also tackles concerns related to inconsistent quality and high labor intensity in manual pneumatic riveting. The findings of this study hold significant practical value.