Abstract: A system for automatically cold working holes in metal components is disclosed. An automated mandrel moves in relation to a workpiece in order to perform cold expansion of holes in the workpiece. The mandrel is aligned with the axis of each hole and the surface of the workpiece adjacent to the hole. The system may be used to cold work holes in aircraft components, such as wings and fuselage skins.

Abstract: The present invention is a mobile tool positioning system including a support assembly, a mobile multi-axis, numerically controlled robotic tool, and a multi-movement control device coupled to the mobile multi-axis tool. The support assembly is located adjacent a workpiece and has a plurality of engagers. The mobile multi-axis, numerically controlled robotic tool has proximity sensors removably attached to the engagers. The mobile tool can therefore be detachably coupled to the support assembly. The proximity sensors precisely locate and align the mobile tool with the support assembly before being coupled. In addition, the mobile tool can have a self leveling system with a configurable memory. As such, precision tooling operations can be performed on the workpiece.