Systems for in-process quality control during drill-fill assembly

A fastener insertion system for use with an assembly stack-up, said fastener insertion system comprising:

• a one-sided fastener comprising a core bolt and a nut body;
• an end effector positioned at a location where said one-sided fastener is to be installed on the assembly stack-up, said end effector comprising:
• a drill bit configured to drill a hole through the assembly stack-up at the location;
• an automated calibrated probe configured to determine at least one parameter associated with the stack-up proximate the hole;
• and
• a fastener feed head configured to install the one-sided fastener into the hole and apply rotational torque to the core bolt to complete installation of the one-sided fastener, wherein said nut body comprises an anti-rotation flange configured to be engaged by said fastener feed head;
• a processing device;
• and
• a rotation angle sensor communicatively coupled to said processing device and to said end effector, said processing device programmed to:
• measure, with the rotation angle sensor, an amount of angular displacement required to complete installation of the one-sided fastener after applying the rotational torque to the core bolt, wherein said rotation angle sensor is configured to measure rotation of said core bolt;
• transmit a signal representative of the measured amount of angular displacement from the angle sensor to the processing device;
• and
• compare the measurement of angular displacement required to complete installation of the one-sided fastener to a range of angular displacement indicative of correct installation of the fastener.