Assembly of Compliant Structures with Autonomous Industrial Mobile Manipulators (AIMM) Using an End Effector with Active Deformation Compensation for the Assembly of Flaps

Composite structures in aeroplanes are often thin-walled and lightweight, resulting significant compliance, which presents a handling assembly challenge due to the associated part deformations. In order counteract these deformations, parts held their specified geometry using stiff correspondingly heavy fixtures or jigs. Mobile industrial robots very versatile widely used volume production, but they limited payload capacity. High-rate production of large aerospace modules requires highly automated flexible processes. The approach presented this paper is combine mobile units with lightweight jigs that have capability deformation compensation. subject study high-rate process for flap an Autonomous Industrial Manipulator (AIMM) end effector. effector has shape compensation function, implemented by integrated Stewart platform, enables manufacturing tolerances as well gravity effects. function closed loop counteracts deviations appropriate fixture adjustments. reports on conceptual design scenario, effector, its realization successful experimental demonstration at 1:1 scale.