Gantry system and method for processing an aircraft

A gantry system for processing an aircraft comprising:

• a gantry having an interior space configured to receive a fuselage of the aircraft, the gantry having a forward gantry frame having a forward arched member configured to pass from a first side of the interior space to a second side of the interior space along an arcuate path, the gantry having an aft gantry frame having an aft arched member configured to pass from a first side of the interior space to a second side of the interior space along an arcuate path;
• a forward carrier assembly coupled to the forward gantry frame, the forward carrier assembly comprising a first locating arm extending between an inner end and an outer end being movably coupled to the forward gantry frame, a second locating arm extending between an inner end and an outer end being movably coupled to the forward gantry frame, and a forward bracket assembly pivotably coupled to the inner ends of the first and second locating arms, the forward bracket assembly having a forward head assembly bracket;
• an aft carrier assembly coupled to the aft gantry frame, the aft carrier assembly comprising a first locating arm extending between an inner end and an outer end being movably coupled to the aft gantry frame, a second locating arm extending between an inner end and an outer end being movably coupled to the aft gantry frame, and an aft bracket assembly pivotably coupled to the inner ends of the first and second locating arms, the aft bracket assembly having an aft head assembly bracket;
• and
• a head assembly coupled to the forward head assembly bracket and the aft head assembly bracket, the head assembly having a rail including a track, the head assembly having an end effector movable along the track between the forward and aft head assembly brackets for processing the fuselage;
• wherein the head assembly is variably positionable in the interior space by the forward carrier assembly and the aft carrier assembly for positioning the end effector relative to the fuselage.

A method of processing a fuselage of an aircraft using a gantry system having a gantry including gantry frames having arched members configured to pass from a first side to a second side of an interior space along arcuate paths, locating arms movably coupled to the gantry frames, bracket assemblies pivotably coupled to corresponding locating arms, and a head assembly coupled to the bracket assemblies, the method comprising:

• axially positioning the gantry relative to the fuselage at a first axial position;
• moving the locating arms along the arched members to locate the head assembly at a first angular location relative to the fuselage while the gantry is at the first axial position;
• actuating the head assembly to move an end effector of the head assembly along the fuselage to process the aircraft while the gantry is at the first axial position and while the head assembly is at the first angular location;
• moving the locating arms along the arched members to locate the head assembly at a second angular location relative to the fuselage while the gantry is at the first axial position;
• and
• actuating the head assembly to move the end effector of the head assembly along the fuselage to process the aircraft while the gantry is at the first axial position and while the head assembly is at the second angular location.