Abstract: A method and system for automatic assembly of a curved surface part are provided. First, a space coordinate system is established, and a first unit normal vector of the space coordinate system is determined. Then, coordinates of three measurement points on the surface of a curved surface part in the space coordinate system are acquired; and a second unit normal vector to the surface of the curved surface part are determined according to the coordinates of the measurement points. Finally, a rotation angle of the end effector is calculated according to the first unit normal vector and the second unit normal vector; and the end effector is adjusted according to the rotation angle, such that a third unit normal vector of the end effector after adjustment coincides with the second unit normal vector. The method and system enhance the automatic assembly quality of the curved surface part.

Abstract: An apparatus and method are provided for integration of drilling and interference-fit pin insertion. The apparatus includes a station switching module, a spindle module, and a pin insertion module. The station switching module is configured to drill and countersink a panel connecting hole. The pin insertion module is configured for interference-fit pin insertion of a hi-lock bolt. Hence, by using the apparatus, after the drilling of a hole to be drilled is completed, the station switching module is rotated by a fixed angle so that station states of the spindle module and the pin insertion module can be switched, the interference-fit pin insertion of the hi-lock bolts can be completed, and the anti-fatigue property and assembly efficiency can be improved.

Abstract: A method and system for automatic assembly of a curved surface part are provided. First, a space coordinate system is established, and a first unit normal vector of the space coordinate system is determined. Then, coordinates of three measurement points on the surface of a curved surface part in the space coordinate system are acquired; and a second unit normal vector to the surface of the curved surface part are determined according to the coordinates of the measurement points. Finally, a rotation angle of the end effector is calculated according to the first unit normal vector and the second unit normal vector; and the end effector is adjusted according to the rotation angle, such that a third unit normal vector of the end effector after adjustment coincides with the second unit normal vector. The method and system enhance the automatic assembly quality of the curved surface part.