Expanding the Use of Robotics in Airframe Assembly Via Accurate Robot Technology

Russell Devlieg
2010 SAE International Journal of Aerospace  
Serial link articulated robots applied in aerospace assembly have largely been limited in scope by deficiencies in positional accuracy. The majority of aerospace applications require tolerances of +/-0.25mm or less which have historically been far beyond reach of the conventional off-the-shelf robot. The recent development of the accurate robot technology represents a paradigm shift for the use of articulated robotics in airframe assembly. With the addition of secondary feedback, high-order
more » ... ack, high-order kinematic model, and a fully integrated conventional CNC control, robotic technology can now compete on a performance level with customized high precision motion platforms. As a result, the articulated arm can be applied to a much broader range of assembly applications that were once limited to custom machines, including one-up assembly, two-sided drilling and fastening, material removal, and automated fiber placement.
doi:10.4271/2010-01-1846 fatcat:tsu55txk2rfjdkwglumcrz7v5u