Abstract: An assembly tool includes a head and an actuator system. The head includes a collar swaging tool that is moveable along a first axis substantially perpendicular to a longitudinal axis of the assembly tool. A sensor system detects a first position of the head within the confined space, and a second position of the collar swaging tool relative to the target object. The actuator system positions the head within the confined space, and the collar swaging tool relative to the target object.

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 robotic system comprises an end effector including an electromagnetic clamp, a force sensor attached to the end effector for measuring force exerted by the clamp against a work piece surface, and a plurality of normality sensors. The normality sensors are positioned about the force sensor to determine whether the clamp is normal to the surface before the force sensor makes contact with the surface.

Abstract: An assembly tool includes a head and an actuator system. The head includes a collar swaging tool that is moveable along a first axis substantially perpendicular to a longitudinal axis of the assembly tool. A sensor system detects a first position of the head within the confined space, and a second position of the collar swaging tool relative to the target object. The actuator system positions the head within the confined space, and the collar swaging tool relative to the target object.

Abstract: A robotic system comprises an end effector including an electromagnetic clamp, a force sensor attached to the end effector for measuring force exerted by the clamp against a work piece surface, and a plurality of normality sensors. The normality sensors are positioned about the force sensor to determine whether the clamp is normal to the surface before the force sensor makes contact with the surface.

Abstract: A burrless, flexible track drilling system employing a counterweight tool balancing subsystem. The counterweight tool balancing subsystem provides essentially a “weightless” feel to a machining subassembly of the system that carries a drill and an electromagnet. This enables an operator to move the machining subassembly vertically with only a very minimal degree of effort being required. The machining subassembly also includes a plurality of lifting subassemblies that aid the user in lifting and lowering the electromagnet away from and toward a pair of panels on which a drilling operation is being performed. This also significantly reduces operator fatigue and contributes to a highly ergonomic system.

Abstract: A burrless, flexible track drilling system employing a counterweight tool balancing subsystem. The counterweight tool balancing subsystem provides essentially a “weightless” feel to a machining subassembly of the system that carries a drill and an electromagnet. This enables an operator to move the machining subassembly vertically with only a very minimal degree of effort being required. The machining subassembly also includes a plurality of lifting subassemblies that aid the user in lifting and lowering the electromagnet away from and toward a pair of panels on which a drilling operation is being performed. This also significantly reduces operator fatigue and contributes to a highly ergonomic system.

Abstract: A bushing and associated drill are provided that may be actuated either pneumatically or with a spring in order to be biased into contact with a structure, such as a multi-layer structure, to reduce gaps therewithin. The bushing includes a housing and a nose piece slidably disposed relative to the housing. The bushing also includes a gas inlet in communication with the internal cavity such that the nose piece may be pneumatically urged forwardly relative to the housing and into operable contact with the structure. The bushing may also include a mounting mechanism for releasably attaching the housing to a drill motor. The mounting mechanism permits the housing to be detached from the drill motor to access the internal cavity, thereby permitting a spring to be inserted that will bias the nose piece forwardly relative to the housing. Spring actuation may be an alternative or a supplement to pneumatic actuation.

Abstract: A bushing and associated drill are provided that may be actuated either pneumatically or with a spring in order to be biased into contact with a structure, such as a multi-layer structure, to reduce gaps therewithin. The bushing includes a housing and a nose piece slidably disposed relative to the housing. The bushing also includes a gas inlet in communication with the internal cavity such that the nose piece may be pneumatically urged forwardly relative to the housing and into operable contact with the structure. The bushing may also include a mounting mechanism for releasably attaching the housing to a drill motor. The mounting mechanism permits the housing to be detached from the drill motor to access the internal cavity, thereby permitting a spring to be inserted that will bias the nose piece forwardly relative to the housing. Spring actuation may be an alternative or a supplement to pneumatic actuation.