Abstract: A method, apparatus, and system for manufacturing a composite part. A set of reference locations is identified for a set of fiducial markers on a composite ply from a ply shape model for the composite part. The set of fiducial markers is created at the set of reference locations on the composite ply. The composite ply is cut to have a shape defined by the ply shape model.

Abstract: Robots for moving relative to a surface, robotic systems including the same, and associated methods are disclosed. A robot includes a body, at least two legs, and at least two feet. Each leg has a proximal end region operatively coupled to the body at a respective body joint with one rotational degree of freedom and a distal end region operatively coupled to a respective foot at a respective foot joint comprising two rotational degrees of freedom. Each foot is configured to be translated relative to the surface with two degrees of translational freedom. Robotic systems include one or more robots and a surface along which the one or more robots are positioned to move. Methods of operating robots and of operating robotic systems include translating at least one foot of a robot to operatively move the body of the robot with six degrees of freedom.

Abstract: A guide assembly for supporting a tool employs an arcuate guide configured to have a tether coupled thereto. The arcuate guide is configured to apply a reaction force to the tether to oppose gravitational force applied to the tool. The assembly further includes a mount assembly is configured to couple the arcuate guide to the tool. At least one support bar is coupled to the arcuate guide and the mount assembly. The arcuate guide, the mount assembly, and the at least one support bar are configured to maintain the reaction force in alignment with a center of gravity of the tool as the tool is rotated with respect to the center of gravity.

Abstract: A method and apparatus for performing an automated validation of a condition of assembly for a structure. A plurality of images of the structure are registered to a computer model of the structure in which an image in the plurality of images captures a portion of the structure. Each image in the plurality of images is segmented based on registration of the plurality of images to the computer model to form a plurality of image sections. A final score is generated for the condition of assembly of the structure based on whether each image section in the plurality of image sections meets a corresponding condition in which the final score indicates whether the condition of assembly is valid.

Abstract: Robots for moving relative to a surface, robotic systems including the same, and associated methods are disclosed. A robot includes a body, at least two legs, and at least two feet. Each leg has a proximal end region operatively coupled to the body at a respective body joint with one rotational degree of freedom and a distal end region operatively coupled to a respective foot at a respective foot joint comprising two rotational degrees of freedom. Each foot is configured to be translated relative to the surface with two degrees of translational freedom. Robotic systems include one or more robots and a surface along which the one or more robots are positioned to move. Methods of operating robots and of operating robotic systems include translating at least one foot of a robot to operatively move the body of the robot with six degrees of freedom.

Abstract: Robots for moving relative to a surface, robotic systems including the same, and associated methods are disclosed. A robot includes a body, at least two legs, and at least two feet. Each leg has a proximal end region operatively coupled to the body at a respective body joint with one rotational degree of freedom and a distal end region operatively coupled to a respective foot at a respective foot joint comprising two rotational degrees of freedom. Each foot is configured to be translated relative to the surface with two degrees of translational freedom. Robotic systems include one or more robots and a surface along which the one or more robots are positioned to move. Methods of operating robots and of operating robotic systems include translating at least one foot of a robot to operatively move the body of the robot with six degrees of freedom.

Abstract: A system includes a robotic device for moving an inspection tool, a scanner coupleable to the robotic device such that the robotic device is configured to automatically move the scanner to collect data associated with a surface of the object, and a computer system configured to determine a surface profile associated with the surface of the object based on the data, and generate a tool path for inspecting the object using the inspection tool based on the surface profile.

Abstract: A guide assembly for supporting a tool employs an arcuate guide configured to have a tether coupled thereto. The arcuate guide is configured to apply a reaction force to the tether to oppose gravitational force applied to the tool. The assembly further includes a mount assembly is configured to couple the arcuate guide to the tool. At least one support bar is coupled to the arcuate guide and the mount assembly. The arcuate guide, the mount assembly, and the at least one support bar are configured to maintain the reaction force in alignment with a center of gravity of the tool as the tool is rotated with respect to the center of gravity.

Abstract: A method and apparatus for laying composite tape. The method may comprise driving a plurality of robots, each having a respective movement system across a movement surface, in which the movement surface faces a workpiece, and laying composite tape from the plurality of robots in a coordinated manner on the workpiece.

Abstract: A method of repairing a structure is provided. The method includes inspecting the structure with a robotic device to identify a structural defect in the structure, generating a tool path for repairing the structural defect, and transmitting the tool path to the robotic device from a location remote from the robotic device.

Abstract: A method and apparatus for performing an automated validation of a condition of assembly for a structure. A plurality of images of the structure are registered to a computer model of the structure in which an image in the plurality of images captures a portion of the structure. Each image in the plurality of images is segmented based on registration of the plurality of images to the computer model to form a plurality of image sections. A final score is generated for the condition of assembly of the structure based on whether each image section in the plurality of image sections meets a corresponding condition in which the final score indicates whether the condition of assembly is valid.

Abstract: A base assembly for coupling an end effector to a structure includes a first side and an opposite second side. The first side configured to couple to the end effector. The base assembly also includes at least one cavity disposed on the second side, and at least one pneumatic generator coupled in flow communication with the at least one cavity. The at least one pneumatic generator is operable in a suction mode and a blower mode. The second side having the at least one cavity is securely coupleable to a surface of the structure via a vacuum force induced by the at least one pneumatic generator in the suction mode, and the second side having the at least one cavity is movable substantially frictionlessly across the surface via an air cushion induced by the at least one pneumatic generator in the blower mode.

Abstract: A method and apparatus for a robot self-locating on a movement surface. The method may comprise moving a first robot across the movement surface and relative to a workpiece, in which the movement surface faces the workpiece. The method may also form sensor data using a first number of sensors on the first robot as the first robot moves across the movement surface, in which the sensor data represents identifying characteristics of a portion of the movement surface. The method may also determine a location of the first robot on the movement surface using the sensor data. The method may further determine a location of a functional component of the first robot relative to the workpiece using the location of the first robot on the movement surface.

Abstract: A method and apparatus for managing a rework of a composite structure. Boundary geometries are identified for the layer boundaries in an image of a rework area. The image includes layer boundaries for exposed layers in the rework area. Layer orientations are identified for the exposed layers. A description of a patch for installation in the rework area is generated using the boundary geometries and layer orientations. The patch has plies having ply boundaries with the boundary geometries corresponding to the layer boundaries and ply orientations corresponding to the layer orientations. An operation of a ply cutting system is controlled using the group of files describing the patch, enabling fabricating the patch for the rework area using the group of files describing the patch.

Abstract: Robots for moving relative to a surface, robotic systems including the same, and associated methods are disclosed. A robot includes a body, at least two legs, and at least two feet. Each leg has a proximal end region operatively coupled to the body at a respective body joint with one rotational degree of freedom and a distal end region operatively coupled to a respective foot at a respective foot joint comprising two rotational degrees of freedom. Each foot is configured to be translated relative to the surface with two degrees of translational freedom. Robotic systems include one or more robots and a surface along which the one or more robots are positioned to move. Methods of operating robots and of operating robotic systems include translating at least one foot of a robot to operatively move the body of the robot with six degrees of freedom.

Abstract: A method and apparatus for customizing tool paths. A reference tool path is identified for a tool based on an expected shape for a surface of an object. Offset data is generated for a plurality of sample points identified for use in evaluating the surface of the object. The offset data identifies a difference between the expected shape for the surface of the object and an actual shape of the surface of the object. The reference tool path is modified using the offset data to form a modified tool path for the tool.

Abstract: A method and apparatus for managing a rework of a composite structure. Boundary geometries are identified for the layer boundaries in an image of a rework area. The image includes layer boundaries for exposed layers in the rework area. Layer orientations are identified for the exposed layers. A description of a patch for installation in the rework area is generated using the boundary geometries and layer orientations. The patch has plies having ply boundaries with the boundary geometries corresponding to the layer boundaries and ply orientations corresponding to the layer orientations. An operation of a ply cutting system is controlled using the group of files describing the patch, enabling fabricating the patch for the rework area using the group of files describing the patch.

Abstract: A method and apparatus for a robot self-locating on a movement surface. The method may comprise moving a first robot across the movement surface and relative to a workpiece, in which the movement surface faces the workpiece. The method may also form sensor data using a first number of sensors on the first robot as the first robot moves across the movement surface, in which the sensor data represents identifying characteristics of a portion of the movement surface. The method may also determine a location of the first robot on the movement surface using the sensor data. The method may further determine a location of a functional component of the first robot relative to the workpiece using the location of the first robot on the movement surface.

Abstract: A method and apparatus for laying composite tape. The method may comprise driving a plurality of robots, each having a respective movement system across a movement surface, in which the movement surface faces a workpiece, and laying composite tape from the plurality of robots in a coordinated manner on the workpiece.

Abstract: A base assembly for coupling an end effector to a structure includes a first side and an opposite second side. The first side configured to couple to the end effector. The base assembly also includes at least one cavity disposed on the second side, and at least one pneumatic generator coupled in flow communication with the at least one cavity. The at least one pneumatic generator is operable in a suction mode and a blower mode. The second side having the at least one cavity is securely coupleable to a surface of the structure via a vacuum force induced by the at least one pneumatic generator in the suction mode, and the second side having the at least one cavity is movable substantially frictionlessly across the surface via an air cushion induced by the at least one pneumatic generator in the blower mode.