Abstract: An end effector for confined space manufacturing operations and methods of use are presented. The end effector comprises a pair of kinematic machines connected in series, and an operational head connected to a first platform of a first kinematic machine of the pair of kinematic machines, the operational head configured to perform number of manufacturing operations on a structure.

Abstract: Fastener storage is presented. The fastener storage comprises a disc with a plurality of apertures through a first face of the disc and arranged in a plurality of rings concentric with the disc, and a plurality of machine-readable identifiers on the first face of the disc.

Abstract: A fastening end effector is presented. The fastening end effector comprises a hammering insertion die translatable into and out of a housing of the fastening end effector along a longitudinal axis of the fastening end effector; and grippers positioned circumferentially around the hammering insertion die to hold a head of a fastener against the hammering insertion die, the grippers independently moveable relative to the hammering insertion die.

Abstract: An end effector is presented. The end effector comprises a torque wrench and a first vacuum source. The torque wrench is configured to hold a collar and apply a single-sided clamp-up to a structure. The first vacuum source is pneumatically connected to the torque wrench and configured to supply a vacuum for the single-sided clamp-up.

Abstract: Methods and apparatuses for performing automated operations, such as installing fasteners at a plurality of locations along a joint, using a high-density robotic cell. A plurality of different tasks for a fastener installation operation is performed concurrently at selected locations of the plurality of locations using a plurality of single function end effectors positioned relative to the selected locations in a high-density setup.

Abstract: A method and apparatus for building a fuselage assembly for an aircraft. A number of fixtures may be drive across a floor to an assembly area to form an assembly fixture. The fuselage assembly may be built on the assembly fixture.

Abstract: A method and apparatus for building a fuselage assembly for an aircraft. A number of fixtures may be drive across a floor to an assembly area to form an assembly fixture. The fuselage assembly may be built on the assembly fixture.

Abstract: Methods and apparatuses for performing automated operations using a high-density robotic cell. An apparatus comprises a first plurality of robotic devices; a second plurality of robotic devices; and a control system. Each of the second plurality of robotic devices is coupled to a single function end effector. The control system controls the second plurality of robotic devices to concurrently perform tasks at a plurality of locations on an assembly, while the first plurality of robotic devices independently maintain a clamp-up at each of the plurality of locations.

Abstract: An apparatus for accessing an interior of a fuselage assembly. A tower having a number of platform levels may be driven into a selected tower position within an assembly area. The interior of the fuselage assembly may be accessed using the number of platform levels.

Abstract: Methods and apparatuses for providing a clamp-up are provided. The methods and apparatuses include reaching through a first hole in a first part to grip a wall that defines a second hole in a second part to thereby pull the second part against the first part.

Abstract: Methods and apparatuses for aligning a first hole in a first panel with a second hole in a second panel to define a through-hole. A wall that defines the second hole is gripped from within the through-hole to pull the second panel towards the first panel and thereby establish a clamp-up of the first panel and the second panel.

Abstract: Methods and apparatuses for providing a clamp-up are provided. An apparatus for forming a clamp-up comprises an end effector. The end effector is positioned at a first side of a panel joint and applies a first clamp-up force to a first panel of a panel joint and an equal and opposite second clamp-up force to a second panel of the panel joint to provide the clamp-up.

Abstract: A method and apparatus for positioning an end effector relative to a fuselage assembly. The end effector is positioned relative to an expected reference location for a reference point on the fuselage assembly using data from a first metrology system. After positioning the end effector relative to the expected reference location, an actual reference location for the reference point on the fuselage assembly is identified using data from a second metrology system. The end effector is positioned at an operation location based on the actual reference location identified.

Abstract: A method and apparatus for performing an assembly operation. A tool may be macro-positioned within an interior of a fuselage assembly. The tool may be micro-positioned relative to a particular location on a panel of the fuselage assembly. An assembly operation may be performed at the particular location on the panel using the tool.

Abstract: A method and apparatus for adjusting an adjustable retaining structure. The adjustable retaining structure may be rotated, passively, about a spherical interface as a panel applies a load to the adjustable retaining structure.

Abstract: A method and apparatus for building an assembly fixture for holding a fuselage assembly. A number of cradle fixtures may be driven across a floor to an assembly area. The number of cradle fixtures may be configured to form the assembly fixture.

Abstract: A method and apparatus for distributing a number of utilities. The number of utilities may be coupled between a number of utility sources and a utility fixture. The number of utilities may be coupled between the utility fixture and a mobile system.

Abstract: A method and apparatus for performing an assembly operation. A tool may be macro-positioned relative to an exterior of a fuselage assembly. The tool may be micro-positioned relative to a particular location on the exterior of the fuselage assembly. An end effector is removably associated with an external robotic device associated with an external mobile platform. The tool is removably associated with the end effector. An assembly operation may be performed at the particular location on the panel using the tool.

Abstract: Methods and apparatuses for performing automated operations, such as installing fasteners at a plurality of locations along a joint, using a high-density robotic cell. A plurality of different tasks for a fastener installation operation is performed concurrently at selected locations of the plurality of locations using a plurality of single function end effectors positioned relative to the selected locations in a high-density setup.

Abstract: Methods and apparatuses for aligning a first hole in a first panel with a second hole in a second panel to define a through-hole. A wall that defines the second hole is gripped from within the through-hole to pull the second panel towards the first panel and thereby establish a clamp-up of the first panel and the second panel.