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.