Abstract: A lockbolt swage end effector incorporates a swage tool releasably engaged by a connector assembly to hydraulic operator carried in a frame. A two piece core-bolt operably connects the swage tool and the hydraulic operator through the connector assembly. A connection flange attaches the frame to a mating flange on a robotic manipulator.

Abstract: A lockbolt swage end effector incorporates a swage tool engaged by a connector assembly to a frame. The frame is attached to a robotic manipulator. A jaw assembly is supported on a mounting assembly, the jaw assembly having opposing articulating jaws forming a recess to engage a collar in a closed position in alignment with a swage puller and die in the swage tool. The articulating jaws release the collar in an open position for operation of the swage tool.

Abstract: A pressure bulkhead assembly support tool configured to hold a pressure bulkhead system is presented. The pressure bulkhead assembly support tool comprises a segmented frame having a substantially circular path. A plurality of circumferential force assemblies restrains the pressure bulkhead system such that a circumferential surface of the pressure bulkhead system with a nominal shape is formed. A plurality of alignment probes holds and positions the pressure bulkhead system relative to the segmented frame.

Abstract: A lockbolt swage end effector incorporates a swage tool releasably engaged by a connector assembly to hydraulic operator carried in a frame. A two piece core-bolt operably connects the swage tool and the hydraulic operator through the connector assembly. A connection flange attaches the frame to a mating flange on a robotic manipulator.

Abstract: A lockbolt swage end effector incorporates a swage tool engaged by a connector assembly to a frame. The frame is attached to a robotic manipulator. A jaw assembly is supported on a mounting assembly, the jaw assembly having opposing articulating jaws forming a recess to engage a collar in a closed position in alignment with a swage puller and die in the swage tool. The articulating jaws release the collar in an open position for operation of the swage tool.

Abstract: A method and apparatus for supplying cables to robots at non-static locations. A work platform for supporting one or more humans is positioned above a base platform for supporting one or more are robots independently of the work platform. A cable carrier system for providing cables to the robots is positioned underneath the work platform and above the base platform.

Abstract: A pressure bulkhead assembly support tool configured to hold a pressure bulkhead system is presented. The pressure bulkhead assembly support tool comprises a segmented frame having a substantially circular path. A plurality of circumferential force assemblies restrains the pressure bulkhead system such that a circumferential surface of the pressure bulkhead system with a nominal shape is formed. A plurality of alignment probes holds and positions the pressure bulkhead system relative to the segmented frame.

Abstract: A positioning device for positioning a drilling tool of a drilling apparatus relative to a workpiece includes a cage mounted to the drilling apparatus such that the cage at least partially surrounds the drilling tool. The cage includes an end portion that includes an alignment surface that is configured to be engaged in physical contact with a workpiece surface of the workpiece. The alignment surface of the cage is oriented relative to a centerline axis of the drilling tool such that the centerline axis extends approximately normal to the workpiece surface when the alignment surface of the cage is in contact with the workpiece surface. The positioning device also includes a laser projector mounted to the cage such that the laser projector is configured to project an illuminated dot onto the workpiece surface that indicates where the centerline axis of the drilling tool intersects the workpiece surface.

Abstract: A pressure bulkhead system is presented. The pressure bulkhead system comprises an aft pressure bulkhead having a bulkhead interface surface, skin splice angles positioned adjacent to one another and joined to the aft pressure bulkhead, and a plurality of shims between the flange surface and the bulkhead interface surface of the aft pressure bulkhead. The skin splice angles form a circumferential surface and a flange surface, wherein the circumferential surface has a nominal shape.

Abstract: A positioning device for positioning a drilling tool of a drilling apparatus relative to a workpiece includes a cage mounted to the drilling apparatus such that the cage at least partially surrounds the drilling tool. The cage includes an end portion that includes an alignment surface that is configured to be engaged in physical contact with a workpiece surface of the workpiece. The alignment surface of the cage is oriented relative to a centerline axis of the drilling tool such that the centerline axis extends approximately normal to the workpiece surface when the alignment surface of the cage is in contact with the workpiece surface. The positioning device also includes a laser projector mounted to the cage such that the laser projector is configured to project an illuminated dot onto the workpiece surface that indicates where the centerline axis of the drilling tool intersects the workpiece surface.

Abstract: A pressure bulkhead system is presented. The pressure bulkhead system comprises an aft pressure bulkhead having a bulkhead interface surface, skin splice angles positioned adjacent to one another and joined to the aft pressure bulkhead, and a plurality of shims between the flange surface and the bulkhead interface surface of the aft pressure bulkhead. The skin splice angles form a circumferential surface and a flange surface, wherein the circumferential surface has a nominal shape.

Abstract: A tool-change station includes a base, and a first tool-change member that is coupled to the base and is rotatable relative to the base. The first tool-change member includes a first tool-engagement portion, geometrically complementary with a tool-change-engagement portion of a tool of a rotary drive.

Abstract: A rotary-drive sub-assembly includes a tool and a tool retainer. The tool includes a first body and a second body. The first body includes a tool-change-engagement portion and a first threaded portion that is fixed relative to the tool-change-engagement portion. The second body includes a fastener-engagement portion. The second body is translatable relative to the first body, co-axially with the first body, and is co-axially rotationally fixed relative to the first body. The tool further includes a keeper, fixed within the first body, and a resilient member, captured between the second body and the keeper. The tool also includes a tool retainer, including a second threaded portion, configured to be threadably fastened with the first threaded portion of the first body, and a key, fixed relative to the second threaded portion.

Abstract: A method is presented. A machine head is positioned in a desired location relative to a material on a tool using a sensor connected to the machine head and calibrated to detect magnetic material in the tool. An operation is performed on the material using the machine head starting at the desired location.

Abstract: A method and apparatus for supporting collaborative robots and humans in a narrowing work envelope. A base platform is provided, and a work platform is positioned above the base platform for supporting one or more humans, wherein the work platform is narrower than the base platform, and the work platform is positioned relative to the base platform to provide areas for positioning one or more robots on one or more sides of the work platform. The robots are supported on the base platform independently of the work platform, so that movement of the work platform does not affect the robots' positions.

Abstract: A method and apparatus for positioning robots using a gantry. A base platform is provided, and a work platform is positioned above the base platform for supporting one or more humans. One or more robots are supported on the base platform independently of the work platform. At least one gantry is positioned above the base platform and adjacent the work platform for supporting and positioning the robots along the work platform.

Abstract: A method and apparatus for supplying cables to robots at non-static locations. A work platform for supporting one or more humans is positioned above a base platform for supporting one or more are robots independently of the work platform. A cable carrier system for providing cables to the robots is positioned underneath the work platform and above the base platform.

Abstract: A method and apparatus for supplying cables to robots at non-static locations. A base platform is provided, and a work platform is positioned above the base platform for supporting one or more humans. One or more are robots supported on the base platform independently of the work platform. A cable carrier system is positioned above the base platform and underneath the work platform for providing cables to the robots.

Abstract: A method of applying a coating to at least a portion of a surface of a structure using reusable master path rules. The surface of the structure is identified to form surface data. A framework for the surface of the structure is generated using the surface data. The framework comprises a plurality of points. Reusable master path rules are created for a master path connecting the plurality of points. The master path is a continuous line representing a universal route for applying coatings to the surface. The coating is applied to the at least a portion of the surface of the structure using the reusable master path rules.

Abstract: A tool-change station includes a base, and a first tool-change member that is coupled to the base and is rotatable relative to the base. The first tool-change member includes a first tool-engagement portion, geometrically complementary with a tool-change-engagement portion of a tool of a rotary drive.