The connection of aircraft structural parts is mainly mechanical connection. The position accuracy and surface quality of the connection holes are important to the service life and safety of the aircraft. The intelligence

automation

and flexibility of hole-making equipment directly affects the quality

efficiency

and the cost of aircraft manufacturing. However

the domestic research and application of automated hole-making equipment is still at a relatively early stage and has not been put into use on a large scale. Therefore

the development of such equipment is of great significance and a crawling hole-making robot was developed

and the motion of the developed crawling hole-making robot was calculated and analyzed using the spin method. First

calculate the degree of freedom of the crawling holemaking robot’s posture adjustment and correction movement

and then solve the robot’s posture adjustment and correction movement

and analyze the movement characteristics of the robot during the movement

laying the foundation for the future control system design.