Abstract: A method and apparatus for fastening two parts together. An initial interference fit may be created between a fastener and at least a portion of a hole extending through the two parts while maintaining a force equilibrium. A final interference fit may be created between the fastener and the hole, while maintaining a new force equilibrium.

Abstract: Presently disclosed robotic alignment systems and methods may allow for alignment of a platform of a robot with respect to an access port of a part, such as a wing of an aircraft. A robot positioned under the wing may include a base and an upper platform coupled together by a plurality of legs. The upper platform may be moveable with respect to the base in six degrees of freedom in order to be aligned with the access port of the wing so that the robot may insert a tool through the access port without damaging the wing. Disclosed robotic alignment systems may include a calibration plate that is inserted into the access port. A number of positioning devices on the upper platform of the robot may interact with the calibration plate in order to align the upper platform with respect to the calibration plate, and thereby with respect to the access port.

Abstract: A facility for assembling aircraft fuselages comprises a plurality of movable cradles. Each cradle is configured to support a fuselage keel structure and assemble a panelized fuselage from the keel structure to obtain a full fuselage contour in a single upright build position.

Abstract: One example of the present disclosure relates to a system for dispensing a substance in a form of a bead on a surface in a progression direction along a path. The system includes a dispenser having, while the substance is being dispensed: a leading edge, a contact portion including two contact points with the surface, and a trailing edge that extends between the two contact points and terminates therein. The system also includes first means for moving the dispenser along a virtual travel plane, which is parallel to the path and passes through the two contact points, while maintaining the contact portion in communication with the surface as the substance is being dispensed. The system also includes second means for monitoring a leading portion of the bead and for generating a signal responsive to at least one characteristic of the leading portion, wherein the leading portion is located ahead of a portion of the leading edge in the progression direction along the path.

Abstract: A facility for assembling aircraft fuselages comprises a plurality of movable cradles. Each cradle is configured to support a fuselage keel structure and assemble a panelized fuselage from the keel structure to obtain a full fuselage contour in a single upright build position.

Abstract: A method of assembling a panelized aircraft fuselage comprises loading a keel structure on a cradle; attaching stanchions to a floor grid; positioning the floor grid and stanchions over the keel structure and attaching the stanchions to the keel structure; obtaining a full fuselage contour including locating lower panels on the floor grid while using the cradle, the floor grid, and the keel structure to support the lower panels, and locating upper panels on the lower panels; and fastening the lower panels to the keel structure and the upper panels. The fuselage is assembled upright from the keel structure without changing orientation of the fuselage.

Abstract: A method and apparatus for a positioning system for electromagnetic riveting. The apparatus comprises a plate and a biasing system physically associated with the plate. The plate is configured to be positioned relative to a first workpiece, and is further configured to electromagnetically engage an electromagnetic tool. The biasing system is configured to physically engage a second workpiece. The biasing system is further configured to hold the plate in a desired position relative to the first workpiece during a number of operations performed by the electromagnetic tool while the plate is electromagnetically engaged with the first workpiece.

Abstract: A method for assembling parts. A sealant is placed between a plurality of parts in a stack up to form a workpiece. The workpiece is clamped using a permanent magnet unit and an electromagnetic clamping device in an activated state such that a number of forces caused by a magnetic field clamps the workpiece between the electromagnetic clamping device and the permanent magnet unit. A number of holes are drilled in the workpiece. A number of fasteners are installed in the number of holes.

Abstract: A method and apparatus for performing operations on a workpiece. A first frame in a frame system may be held on the workpiece by applying a vacuum to the first frame. A second frame in the frame system may be detached from the workpiece by applying a pressure to the second frame. The second frame may be moved to a location on the workpiece. The second frame may be attached to the workpiece by applying the vacuum to the second frame. An operation may be performed on the workpiece.

Abstract: A manufacturing method employing a robotic assembly system includes first and second fastener system components that are positioned by a robotic assembly on opposite sides of at least two structural pieces that are to be fastened together. The first system component includes a particular tool of a plurality of different types of tools, where the particular tool installs a particular fastener of a plurality of different types of fasteners. Each tool includes a block or base of magnetic material with a passageway opening for the fastener associated with the tool passing through the base. The robotic assembly positions the tool against one side of the structural pieces to be fastened, and positions an electromagnet assembly on the opposite side of the structural pieces. Activating the electromagnet assembly clamps the structural pieces together. With the fastener positioned in a hole through the structural pieces, the tool is activated to install the fastener between the structural pieces.

Abstract: A manufacturing method employing a robotic assembly system includes first and second fastener system components that are positioned by a robotic assembly on opposite sides of at least two structural pieces that are to be fastened together. The first system component includes a particular tool of a plurality of different types of tools, where the particular tool installs a particular fastener of a plurality of different types of fasteners. Each tool includes a block or base of magnetic material with a passageway opening for the fastener associated with the tool passing through the base. The robotic assembly positions the tool against one side of the structural pieces to be fastened, and positions an electromagnet assembly on the opposite side of the structural pieces. Activating the electromagnet assembly clamps the structural pieces together. With the fastener positioned in a hole through the structural pieces, the tool is activated to install the fastener between the structural pieces.

Abstract: A clamp assembly comprises a first clamp including a plurality of magnet devices. Each magnet device includes a permanent magnet and a coil surrounding the permanent magnet. The clamp assembly further comprises a controller for pulsing the coils to selectively magnetize and demagnetize the permanent magnets.

Abstract: A system includes a driver robot having a body with a pair of spaced apart flux conductors, and a follower robot having an articulated body with a pair of spaced apart magnets. The magnets are coupled to the flux conductors when the articulated body is in an engaged position. One of the magnets is decoupled from one of the flux conductors when the articulated body is in a flipping or stepping position.

Abstract: A clamp assembly comprises a first clamp including a plurality of magnet devices. Each magnet device includes a permanent magnet and a coil surrounding the permanent magnet. The clamp assembly further comprises a controller for pulsing the coils to selectively magnetize and demagnetize the permanent magnets.

Abstract: An apparatus may comprise a permanent magnet unit, an end effector, and an electromagnetic clamping device. The end effector may be capable of performing workpiece operations. The electromagnetic clamping device may have an activated state and a deactivated state.

Abstract: An apparatus comprises a housing, a core located in the housing, a coil unit associated with the core and located in the housing, and a backing plate made of a high-permeability material. The apparatus may be used for generating high clamping forces between materials that are interposed between the core and the backing plate such that manufacturing operations can be carried out. The core has a cross section with an elongate shape. The coil unit is configured to generate magnetic fields and has the elongate shape.

Abstract: An electromagnetic clamping system contains a housing, numerous permanent magnets, numerous low friction surfaces having a number of wheels, an end effector, an electromagnetic clamping device, first, second, and third coil systems, and a core. The end effector performs operations on a workpiece. The electromagnetic clamping device has an activated state and a deactivated state. The electromagnetic clamping device further includes a first coil system generating a first magnetic field causing normal forces on the permanent magnet unit and the clamping device; a second coil system generating a second magnetic field causing side forces on the permanent magnet unit; and a third coil system generating a third magnetic field causing a rotational force on the permanent magnet unit. The core provides access to the workpiece surface for performing operations thereon; and concentrates forces from a number of magnetic fields on the core surface contacting the workpiece surface.

Abstract: A method and apparatus for performing operations on a workpiece. A first frame in a frame system may be held on the workpiece by applying a vacuum to the first frame. A second frame in the frame system may be detached from the workpiece by applying a pressure to the second frame. The second frame may be moved to a location on the workpiece. The second frame may be attached to the workpiece by applying the vacuum to the second frame. An operation may be performed on the workpiece.

Abstract: An automated motorized device may be configured to move on a structure for use in assembling operations thereon. The automated motorized device may comprise a plurality of multifunction movement components, which may be attached to one or more movement assemblies. Functions of each multifunction movement component may comprise adhering and moving. The adhering function may be performed using sealing element, which may be used to create seal between corresponding multifunction movement component and structure. The moving function may be performed using a rolling element, which may be configured to allow rolling on the structure. In some instances, one or more of the multifunction movement components may be configured to also provide floating function, which may be performed, e.g., mechanically or pneumatically.

Abstract: A method and an apparatus for performing operations on a workpiece is provided. A first frame in a frame system may be held on the workpiece by applying a vacuum to the first frame. A second frame in the frame system may be detached from the workpiece by applying a pressure to the second frame. The second frame may be moved to a location on the workpiece. The second frame may be attached to the workpiece by applying the vacuum to the second frame. An operation may be performed on the workpiece.