Abstract: A receiver-fastener apparatus (200) comprises a receiver-fastener housing (270), a receiver-fastener turret (202), an indexing-collet assembly (203), an anvil (204), a receiver-fastener delivery assembly (205), and a swager assembly (206). The receiver-fastener turret (202) is selectively rotatable relative to the receiver-fastener housing (270) about a receiver-fastener-turret rotation axis (Z). The indexing-collet assembly (203) is selectively movable relative to the receiver-fastener housing (270) between an indexing-collet-assembly extended position and an indexing-collet-assembly retracted position along an indexing-collet-assembly axis (Y) that is parallel to the receiver-fastener-turret rotation axis (Z). The anvil (204) is selectively movable relative to the receiver-fastener turret (202) along an anvil axis (X) that is parallel to the receiver-fastener-turret rotation axis (Z).

Abstract: A method of cleaning a surface includes positioning a brush in contact with the surface. The method further includes rotating the brush about a second axis relative to a drum. The method also includes rotating the drum about a first axis relative to a bracket, connected to a handle and rotatably supporting the drum, such that the brush orbitally revolves about the first axis. The first axis is parallel to the second axis.

Abstract: An apparatus (100), for cleaning a surface (102), comprises a handle (126) and a bracket (104), connected to the handle (126). The apparatus (100) further comprises a drum (108), rotatably coupled to the bracket (104) and rotatable about a first axis (110) relative to the bracket (104), a drum motor (130), mounted to the handle (126), and a drum power-transmitting component (132), rotationally coupling the drum motor (130) and the drum (108). The apparatus (100) also comprises a brush motor (114), mounted to the drum (108), and a brush (112), rotatable by the brush motor (114) relative to the drum (108) about a second axis (116), which is parallel to the first axis (110).

Abstract: An apparatus (100), for cleaning a surface (102), comprises a bracket (104) and a drum (108), coupled to the bracket (104) and rotatable relative to the bracket (104) about a first axis (110). The apparatus (100) further comprises a brush motor (114), mounted to the drum (108), and a brush (112), rotatable by the brush motor (114) relative to the drum (108) about a second axis (116), parallel to the first axis (110).

Abstract: An apparatus (100), for cleaning a surface (102), comprises a handle (126) and a bracket (104), connected to the handle (126). The apparatus (100) further comprises a drum (108), rotatably coupled to the bracket (104) and rotatable about a first axis (110) relative to the bracket (104), a drum motor (130), mounted to the handle (126), and a drum power-transmitting component (132), rotationally coupling the drum motor (130) and the drum (108). The apparatus (100) also comprises a brush motor (114), mounted to the drum (108), and a brush (112), rotatable by the brush motor (114) relative to the drum (108) about a second axis (116), which is parallel to the first axis (110).

Abstract: An apparatus (100), for cleaning a surface (102), comprises a handle (126) and a bracket (104), connected to the handle (126). The apparatus (100) further comprises a drum (108), rotatably coupled to the bracket (104), and an anti-rotation fixture (124), configured to prevent rotation of the drum (108) about a first axis (110) relative to the bracket (104). The apparatus (100) also comprises a brush motor (114), mounted to the drum (108), and a brush (112), rotatable by the brush motor (114) relative to the drum (108) about a second axis (116), which is parallel to the first axis (110).

Abstract: An apparatus (100) for dispensing a brushable substance (102) comprises a bracket (104) and a sleeve (110), comprising an inner tubular sleeve wall (114) and an outer tubular sleeve wall (112). The sleeve (110) is coupled to the bracket (104) and is rotatable relative to the bracket (104) about a first axis (118). The apparatus (100) also comprises a cartridge (124), comprising an inner tubular cartridge wall (126) and an outer tubular cartridge wall (128). The cartridge (124) is configured to be positioned between the inner tubular sleeve wall (114) and the outer tubular sleeve wall (112).

Abstract: An apparatus (100) for depositing an extrudable substance (102) comprises a bracket (104) and a sleeve (110), comprising an inner tubular sleeve wall (114) and an outer tubular sleeve wall (112). The sleeve (110) is coupled to the bracket (104) and is rotatable relative to the bracket (104). The apparatus (100) also comprises a cartridge (124), comprising an inner tubular cartridge wall (126) and an outer tubular cartridge wall (128). The cartridge (124) is configured to be positioned between the inner tubular sleeve wall (114) and the outer tubular sleeve wall (112).

Abstract: A portable work module includes a combination of prismatic and revolute joints (47/45) for positioning and orienting a robotic end effector for performing a task within confined space (17). For example, the portable work module may include telescoping arm (52) integrated with wrist (70) having a plurality of degrees of freedom with respect to telescoping arm (52). The portable work module includes an insert that is secured with respect to an access port of confined space (17), said access port serving as a reference location for calculating the position of the robotic end effector within confined space (17). The portable work module is configured to have a compacted configuration for insertion into confined space (17), and an extended configuration for performing tasks within confined space (17). In some examples, the portable work module is modular, such that the robotic end effector or other components may be selectively removed and replaced.

Abstract: A portable programmable machine enhances efficiency and ergonomics associated with conducting otherwise manual operations within confined spaces. A main body supports a programmable telescoping arm configured to extend through an access port to reach a confined space. The arm includes an articulating wrist for holding and manipulating tools for autonomously processing work parts. The machine can also act semi-autonomously to accommodate interventions of an operator for overriding and fine-tuning interaction of a tool with a work part for proper processing of the part. The arm communicates with a computer in the main body for processing numerical data, and the operator may use a reference camera to fine tune any particular process. The machine incorporates multiple processing functions, for example collar swaging, nut running, cleaning, and/or application of sealants, all through an aircraft wing access port. The main body has lockable wheels for securing the main body near the access port.

Abstract: A portable programmable machine enhances efficiency and ergonomics associated with conducting otherwise manual operations within confined spaces. A main body supports a programmable telescoping arm configured to extend through an access port to reach a confined space. The arm includes an articulating wrist for holding and manipulating tools for autonomously processing work parts. The machine can also act semi-autonomously to accommodate interventions of an operator for overriding and fine-tuning interaction of a tool with a work part for proper processing of the part. The arm communicates with a computer in the main body for processing numerical data, and the operator may use a reference camera to fine tune any particular process. The machine incorporates multiple processing functions, for example collar swaging, nut running, cleaning, and/or application of sealants, all through an aircraft wing access port. The main body has lockable wheels for securing the main body near the access port.

Abstract: Sealant injection systems for injecting sealant into a cavity, the sealant injection systems including a sealant dispensing tip having a proximal end portion, a body portion, and a distal end portion that define a continuous channel to an aperture in the distal end portion for dispensing sealant material into a cavity, where the aperture is surrounded by a compressible material. The distal end portion may have a linear ridge defined on an end face, the aperture being asymmetrically provided relative to the ridge.

Abstract: Sealant injection systems for injecting sealant into a cavity, the sealant injection systems including a sealant dispensing tip having a proximal end portion, a body portion, and a distal end portion that define a continuous channel to an aperture in the distal end portion for dispensing sealant material into a cavity, where the aperture is surrounded by a compressible material. The distal end portion may have a linear ridge defined on an end face, the aperture being asymmetrically provided relative to the ridge.

Abstract: Systems and methods are provided for delivering collars to swage guns for swaging. One embodiment is an apparatus that includes a frame, arms movably attached to the frame, a tensioner mechanism that applies force to drive the arms towards each other, and fingers that each extend from an arm. The fingers each include a lengthwise structure. The lengthwise structure includes an arcuate portion dimensioned to mate with an arcuate portion of another finger to form a hollow cylindrical receptacle. The lengthwise structure also includes a channel extending to the arcuate portion, dimensioned to mate with a channel of another finger to form a hollow tunnel for delivering a collar to the receptacle when the fingers are partially apart from each other. The arms of the apparatus each include a contact area.

Abstract: A portable programmable machine enhances efficiency and ergonomics associated with conducting otherwise manual operations within confined spaces. A main body supports a programmable telescoping arm configured to extend through an access port to reach a confined space. The arm includes an articulating wrist for holding and manipulating tools for autonomously processing work parts. The machine can also act semi-autonomously to accommodate interventions of an operator for overriding and fine-tuning interaction of a tool with a work part for proper processing of the part. The arm communicates with a computer in the main body for processing numerical data, and the operator may use a reference camera to fine tune any particular process. The machine incorporates multiple processing functions, for example collar swaging, nut running, cleaning, and/or application of sealants, all through an aircraft wing access port. The main body has lockable wheels for securing the main body near the access port.

Abstract: A mold tool is provided that includes plural mold sub-volumes configured to receive a sealant, a mold channel in fluid communication with the mold sub-volumes, a sealant injection port in fluid communication with the mold channel, vacuum application ports in fluid communication with the mold sub-volumes, and an air control system. The air control system is operably coupled to the mold sub-volumes and the mold channel, and is configured to apply a vacuum to the mold sub-volumes via the vacuum application ports.

Abstract: Systems and methods are provided for delivering collars to swage guns for swaging. One embodiment is an apparatus that includes a frame, arms movably attached to the frame, a tensioner mechanism that applies force to drive the arms towards each other, and fingers that each extend from an arm. The fingers each include a lengthwise structure. The lengthwise structure includes an arcuate portion dimensioned to mate with an arcuate portion of another finger to form a hollow cylindrical receptacle. The lengthwise structure also includes a channel extending to the arcuate portion, dimensioned to mate with a channel of another finger to form a hollow tunnel for delivering a collar to the receptacle when the fingers are partially apart from each other. The arms of the apparatus each include a contact area.

Abstract: A method and apparatus for applying a sealant to a structure. The method comprises scanning a surface of the structure with a vision system to form scanned data. The method further determines a sealant application path for the structure using the scanned data. The method also controls movement of an application tip along the sealant application path using a controller.

Abstract: Sealant injection systems for injecting sealant into a cavity, the sealant injection systems including a sealant dispensing tip having a proximal end portion, a body portion, and a distal end portion that define a continuous channel to an aperture in the distal end portion for dispensing sealant material into a cavity, where the aperture is surrounded by a compressible material.

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.