Abstract: The present disclosure includes a method and apparatus for changing livery on a vehicle. A method of inkjet printing an exterior surface of a vehicle, includes preparing at least a portion of the exterior surface of the vehicle in a first bay using crossflow or downflow air handling and using explosion protected equipment. That method includes inkjet printing at least the portion of the exterior surface of the vehicle in a second bay. This method includes clear-coating at least the portion of the exterior surface of the vehicle in a third bay using downflow or crossflow air handling, using air filtration and using explosion protected equipment.

Abstract: The present disclosure includes a method and apparatus for ink jet printing an exterior surface of a vehicle including a reversibly moveable crossbeam mounted above an open pit; a first track located above the reversibly moveable crossbeam, a first reversibly moveable monument including a first serial robotic manipulator including a first end effector defining a first end effector range of motion based on fully extended reversible movement of the first serial robotic manipulator; a second track located in the open pit beneath the reversibly moveable crossbeam; a second reversibly moveable monument coupled to the second pair of rails, the second reversibly moveable monument including a second end effector defining a second end effector range of motion based on fully extended reversible movement of the second serial robotic manipulator. The first end effector range of motion overlaps the second end effector range of motion.

Abstract: A device actuation system for actuating a treatment device includes a first drive gear rotatably mountable to the treatment device, a coupler rail slidably mountable to the treatment device, a second drive gear rotatably mountable to the coupler rail, and a coupler gear rotatably mountable to the treatment device and engageable with the coupler rail. In addition, the device actuation system includes a drive rail locatable between the first drive gear and the second drive gear of the gear system. The coupler gear is rotatable to move the coupler rail in a manner maintaining the second drive gear in continuous engagement with the drive rail against the first drive gear. The first drive gear and the second drive gear are rotatable in a manner causing at least one of translation and rotation of the treatment device relative to the drive rail.

Abstract: A pitch-yaw actuation system includes a pitch frame, a yaw frame, a pitch actuator, a yaw actuator, and a universal joint assembly. The pitch frame is pivotably coupled to a device frame via a pitch hinge. The yaw frame is pivotably coupled to the pitch frame via a yaw hinge. The pitch actuator pivots the pitch frame about a pitch axis. The yaw actuator pivots the yaw frame about a yaw axis oriented orthogonal to the pitch axis. The universal joint assembly couples the yaw actuator to the yaw frame, and includes a universal joint slidably coupled to a linear guide mechanism. The guide mechanism axis is oriented at an angle that allows the universal joint to move in a manner accommodating misalignment of the yaw actuator with the yaw frame during pivoting of at least one of the pitch frame and the yaw frame.

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: Systems, methods and computer program products for laser etching and robotic machining of large workpieces are disclosed. An example system includes a first ring of lasers configured to etch longitudinal gridlines on a workpiece, a second ring of lasers configured to etch circumferential gridlines on the workpiece, where the longitudinal gridlines and the circumferential gridlines define a working grid on the workpiece, and a machine vision system to scan the working grid and compare the working grid to a reference grid in a computer model of the workpiece and to determine offsets between the working grid and the reference grid for positioning a robotic machining tool.

Abstract: Systems, methods and computer program products for laser etching and robotic machining of large workpieces are disclosed. An example system includes a first ring of lasers configured to etch longitudinal gridlines on a workpiece, a second ring of lasers configured to etch circumferential gridlines on the workpiece, where the longitudinal gridlines and the circumferential gridlines define a working grid on the workpiece, and a machine vision system to scan the working grid and compare the working grid to a reference grid in a computer model of the workpiece and to determine offsets between the working grid and the reference grid for positioning a robotic machining tool.

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 gantry system for processing an aircraft includes a gantry receiving a fuselage of the aircraft having a gantry frame with an arched member. The gantry system includes first and second locating arms extending between inner and outer ends movably coupled to the gantry frame. The gantry system includes a bracket assembly having a first locating arm bracket pivotably coupled to the first locating arm, a second locating arm bracket pivotably coupled to the second locating arm, and a head assembly bracket with a head assembly coupled thereto having an end effector for processing the fuselage. The head assembly is variably positionable by the first and second locating arms moving along the gantry frame for positioning the end effector relative to the fuselage.

Abstract: An isolated human work platform for stabilized positioning of collaborative robotics. 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, so that movement of the work platform does not affect the robots' positions. The work platform is isolated from the robots for stabilized positioning of the robots, so that the base platform and work platform together provide a collaborative workspace for the robots and the humans.

Abstract: A gantry system for processing an aircraft includes a gantry receiving a fuselage of the aircraft having a gantry frame with an arched member. The gantry system includes first and second locating arms extending between inner and outer ends movably coupled to the gantry frame. The gantry system includes a bracket assembly having a first locating arm bracket pivotably coupled to the first locating arm, a second locating arm bracket pivotably coupled to the second locating arm, and a head assembly bracket with a head assembly coupled thereto having an end effector for processing the fuselage. The head assembly is variably positionable by the first and second locating arms moving along the gantry frame for positioning the end effector relative to the fuselage.

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: An isolated human work platform for stabilized positioning of collaborative robotics. 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, so that movement of the work platform does not affect the robots' positions. The work platform is isolated from the robots for stabilized positioning of the robots, so that the base platform and work platform together provide a collaborative workspace for the robots and the humans.

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 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.