Abstract: A shank-fastener apparatus (100) comprises a shank-fastener housing (170), a shank-fastener turret (102), an indexing-pin assembly (103), a drill (104), and a shank-fastener delivery assembly (105). The shank-fastener turret (102) is supported by the shank-fastener housing (170) and is selectively rotatable relative to the shank-fastener housing (170) about a shank-fastener-turret rotation axis (A). The indexing-pin assembly (103) is supported by the shank-fastener housing (170) and is selectively movable relative to the shank-fastener housing (170) between an indexing-pin-assembly extended position and an indexing-pin-assembly retracted position along an indexing-pin-assembly axis (B) that is parallel to the shank-fastener-turret rotation axis (A). The drill (104) is supported by the shank-fastener turret (102) and is selectively movable relative to the shank-fastener turret (102) along a drill axis (C) that is parallel to the shank-fastener-turret rotation axis (A).

Abstract: A receiver-fastener apparatus (200) comprises a receiver-fastener housing (270), a receiver-fastener turret (202), an indexing-collet assembly (203), an anvil (204), a receiver-fastener delivery assembly (205), and a swager assembly (206). The receiver-fastener turret (202) is selectively rotatable relative to the receiver-fastener housing (270) about a receiver-fastener-turret rotation axis (Z). The indexing-collet assembly (203) is selectively movable relative to the receiver-fastener housing (270) between an indexing-collet-assembly extended position and an indexing-collet-assembly retracted position along an indexing-collet-assembly axis (Y) that is parallel to the receiver-fastener-turret rotation axis (Z). The anvil (204) is selectively movable relative to the receiver-fastener turret (202) along an anvil axis (X) that is parallel to the receiver-fastener-turret rotation axis (Z).

Abstract: An applicator for delivering a glutinous substance comprises a first body portion, including an end-effector interface, extending from a base portion, a side cover to be removably coupled to the base portion, and a first cavity. A second body portion, having a second cavity intersecting the first cavity, extends from the base portion and is non-parallel to the first body portion. A tip portion, to be removably coupled to the second body portion, comprises a nozzle portion, a third cavity, communicatively coupled with the second cavity, an inner sleeve, having a splined outer surface, and an actuator interface, extending from the second body portion opposite the tip portion. The tip portion and the inner sleeve are interlocked when the inner sleeve is received inside the third cavity of the tip portion, such that the inner sleeve is prevented from rotating with respect to the tip portion.

Abstract: A sealing system for applying resin to a cut edge of a composite structure, the cut edge having exposed carbon fibers. The system includes: a tool that comprises a nozzle and a resin source; a controller configured to control: a movement of the tool, and flow of resin from the resin source to the nozzle; and an application tip connected to the nozzle of the tool and configured to apply the resin to the cut edge of the composite structure. The application tip may have an exterior surface with a circular cross section and an indentation for a first length along a longitudinal axis of the application tip and a first end and a second end configured such that a resin flows from the first end to the second end.

Abstract: A method includes contacting a first guide, coupled to a body of a nozzle, with a first side of an object; biasing a gate toward the first guide so that a second guide contacts a second side of the object; moving the nozzle along the object while maintaining the first guide in contact with the first side, and the second guide in contact with the second side; and applying the bead of the glutinous substance to the surface via an outlet opening of the nozzle while moving the nozzle along the object, wherein width of the bead and flow of the glutinous substance through the outlet opening are controlled via movement of the gate relative to the body.

Abstract: A method of applying a substance as a bead to a geometric feature, extending along a path, comprises providing an apparatus, comprising an outlet end that comprises a first edge, a second edge, and an outlet opening. The method also comprises establishing contact between at least a portion of the geometric feature and at least a portion of at least one of the first edge of the outlet end and the second edge of the outlet end. The method further comprises moving the apparatus in a progression direction along the path while dispensing the substance from the outlet opening on at least the portion of the geometric feature. The method additionally comprises varying a length of a portion of the first edge of the outlet end and a length of a portion of the second edge of the outlet end.

Abstract: A dispensing unit for controlling flow of a substance is disclosed. The dispensing unit comprises a nozzle and a plug. The nozzle comprises a channel that comprises a first portion and a second portion, communicatively coupled with the first portion. The first portion of the channel has a symmetry axis. The second portion of the channel comprises an outlet that is offset relative to the symmetry axis of the first portion of the channel. The dispensing unit further comprises a plug that comprises a wall and a first aperture, which penetrates the wall through an outer surface of the wall.

Abstract: A method (200) includes contacting a first guide (116), coupled to a body (110) of a nozzle (100), with a first side (108) of an object (104); biasing a gate (130) toward the first guide (116) so that a second guide (132) contacts a second side (109) of the object (104); moving the nozzle (100) along the object (104) while maintaining the first guide (116) in contact with the first side (108), and the second guide (132) in contact with the second side (109); and applying the bead (103) of the glutinous substance (101) to the surface (102) via an outlet opening (114) of the nozzle (100) while moving the nozzle (100) along the object (104), wherein width of the bead (103) and flow of the glutinous substance (101) through the outlet opening (114) are controlled via movement of the gate (130) relative to the body (110).

Abstract: A method of removing a glutinous substance from an applicator comprises removing a plunger before the glutinous substance has solidified; allowing the glutinous substance to solidify inside the applicator; detaching a side cover from a base portion of a first body portion to expose a first sealant plug; severing the first sealant plug from a second sealant plug; severing the first sealant plug from a third sealant plug; detaching a tip portion of the applicator from a second body portion to expose a portion of the second sealant plug; extracting the second sealant plug from the second body portion by pulling the portion of the second sealant plug in a direction along the second body portion; separating the first sealant plug from the base portion of the first body portion; and extracting the third sealant plug from an end-effector interface of the first body portion.

Abstract: A sealing system for applying resin to a cut edge of a composite structure, the cut edge having exposed carbon fibers. The system includes: a tool that comprises a nozzle and a resin source; a controller configured to control: a movement of the tool, and flow of resin from the resin source to the nozzle; and an application tip connected to the nozzle of the tool and configured to apply the resin to the cut edge of the composite structure. The application tip may have an exterior surface with a circular cross section and an indentation for a first length along a longitudinal axis of the application tip and a first end and a second end configured such that a resin flows from the first end to the second end.

Abstract: A nozzle for applying a bead of a glutinous substance to a surface of an object comprises a body, a first guide, a gate, a second guide, and a biasing member. The body comprises an inlet opening and an outlet opening, joined by a channel. The first guide is coupled to the body. The gate is translatably coupled to the body. Movement of the gate relative to the body controls flow of the glutinous substance through the outlet opening, and width of the bead. The second guide is coupled to the gate. The biasing member is coupled to the body and to the gate. The biasing member urges the gate toward the first guide.

Abstract: A dispensing unit (100) for controlling flow of a substance (101) comprises a nozzle (102) and a plug (110). The nozzle comprises an outlet (122) and a channel (104) that comprises a longitudinal symmetry axis (130), a sealing surface (106), and an alcove surface (108), contiguous with the sealing surface (106) and outwardly recessed relative to the sealing surface (106); and a plug (110). The plug (110) comprises a wall (112) that comprises an outer surface (114) and that also comprises a first aperture (116), fully penetrating the wall (112) through the outer surface (114) of the wall (112) of the plug (110). The outer surface (114) of the wall (112), comprising the first aperture (116), is complementary with the sealing surface (106) of the channel (104). The plug (110) is movable in the channel (104).

Abstract: A method and apparatus for applying resin to a cut edge of a composite structure, the cut edge having exposed carbon fibers. The method comprises scanning the cut edge of the composite structure with a vision system to form scanned data. The method further determines an application path for the cut edge of the composite structure using the scanned data. The method also applies the resin to the cut edge of the composite structure by controlling movement of an application tip along the application path using a controller.

Abstract: A portable work module includes a combination of prismatic and revolute joints (47/45) for positioning and orienting a robotic end effector for performing a task within confined space (17). For example, the portable work module may include telescoping arm (52) integrated with wrist (70) having a plurality of degrees of freedom with respect to telescoping arm (52). The portable work module includes an insert that is secured with respect to an access port of confined space (17), said access port serving as a reference location for calculating the position of the robotic end effector within confined space (17). The portable work module is configured to have a compacted configuration for insertion into confined space (17), and an extended configuration for performing tasks within confined space (17). In some examples, the portable work module is modular, such that the robotic end effector or other components may be selectively removed and replaced.

Abstract: A method (500) for removing glutinous substance (298) from applicator (100) comprises removing plunger (342) from applicator (100) before glutinous substance (298) has solidified; allowing glutinous substance (298) to solidify inside applicator (100); detaching side cover (110) from base portion (111) of first body portion (102) to expose first sealant plug (302); severing first sealant plug (302) from second sealant plug (304); severing first sealant plug (302) from third sealant plug (300); detaching tip portion (106) of applicator (100) from second body portion (104) to expose a portion of second sealant plug (304); extracting second sealant plug (304) from second body portion (104) by pulling portion of second sealant plug (304) in direction (320) along second body portion (104); separating first sealant plug (302) from base portion (111) of first body portion (102); and extracting third sealant plug (300) from end-effector interface (112) of first body portion (102).

Abstract: A method (500) for removing glutinous substance (298) from applicator (100) comprises removing plunger (342) from applicator (100) before glutinous substance (298) has solidified; allowing glutinous substance (298) to solidify inside applicator (100); detaching side cover (110) from base portion (111) of first body portion (102) to expose first sealant plug (302); severing first sealant plug (302) from second sealant plug (304); severing first sealant plug (302) from third sealant plug (300); detaching tip portion (106) of applicator (100) from second body portion (104) to expose a portion of second sealant plug (304); extracting second sealant plug (304) from second body portion (104) by pulling portion of second sealant plug (304) in direction (320) along second body portion (104); separating first sealant plug (302) from base portion (111) of first body portion (102); and extracting third sealant plug (300) from end-effector interface (112) of first body portion (102).

Abstract: A method and apparatus for depositing a fluid over an interface. A nozzle may comprise a body having a first end and a second end, an input located at the first end of the body, an output located at the second end of the body, and a plurality of channels located within the body. The input may be configured to receive a fluid. The plurality of channels may have a configuration that causes the fluid received through the input to flow through the plurality of channels and exit the output to form a deposition having a desired shape over an interface.

Abstract: A dispensing unit (100) for controlling flow of a substance (101) is disclosed. The dispensing unit (100) comprises a nozzle (102) and a plug (110). The nozzle (102) comprises a channel (104) that comprises a first portion (102) and a second portion (192), communicatively coupled with the first portion (190). The first portion (102) of the channel (104) has a symmetry axis (130). The second portion (192) of the channel (104) comprises an outlet (122) that is offset relative to the symmetry axis (130) of the first portion (190) of the channel (104). The dispensing unit (100) further comprises a plug (110) that comprises a wall (112) and a first aperture (116), which penetrates the wall (112) through an outer surface (114) of the wall (112).

Abstract: A dispensing unit (100) for controlling flow of a substance (101) comprises a nozzle (102) and a plug (110). The nozzle comprises an outlet (122) and a channel (104) that comprises a longitudinal symmetry axis (130), a sealing surface (106), and an alcove surface (108), contiguous with the sealing surface (106) and outwardly recessed relative to the sealing surface (106); and a plug (110). The plug (110) comprises a wall (112) that comprises an outer surface (114) and that also comprises a first aperture (116), fully penetrating the wall (112) through the outer surface (114) of the wall (112) of the plug (110). The outer surface (114) of the wall (112), comprising the first aperture (116), is complementary with the sealing surface (106) of the channel (104). The plug (110) is movable in the channel (104).

Abstract: A method (500) for removing glutinous substance (298) from applicator (100) comprises removing plunger (342) from applicator (100) before glutinous substance (298) has solidified; allowing glutinous substance (298) to solidify inside applicator (100); detaching side cover (110) from base portion (111) of first body portion (102) to expose first sealant plug (302); severing first sealant plug (302) from second sealant plug (304); severing first sealant plug (302) from third sealant plug (300); detaching tip portion (106) of applicator (100) from second body portion (104) to expose a portion of second sealant plug (304); extracting second sealant plug (304) from second body portion (104) by pulling portion of second sealant plug (304) in direction (320) along second body portion (104); separating first sealant plug (302) from base portion (111) of first body portion (102); and extracting third sealant plug (300) from end-effector interface (112) of first body portion (102).