Study and experiment of attitude adjustment algorithm for robot drilling end-effector

An algorithm for the automatic attitude adjustment of the spindle in robot drilling end-effector is presented in this paper. The double eccentric discs normal adjustment mechanism is used to adjust the spindle axis to coincide with the normal direction of the drilling point automatically before drilling. However, there are two available directions and attitudes for each eccentric disc to rotate, so how to adjust the attitude of spindle quickly and accurately on the premise of guaranteed drilling perpendicularity is a key issue. In order to improve the adjustment efficiency, this paper proposes that the minimum sum of rotational angles in macro and micro eccentric disc is the optimal solution. Finally we obtain optimal solution from four solutions, and the effectiveness and accuracy of the algorithm are verified by inclinometer experiment.