One up assembly aircraft panel drilling system

A system comprising:

• a plurality of electronically programmable end effectors programmed to sequentially preload and drill selective portions of a workpiece comprising two components to be joined, each of the end effectors including a single planar face from which extend a vacuum chute, an expansible clamp holster, and a drilling head having a drill,
• a solitary expansible clamp dispenser comprising an opening through the face, the solitary expansible clamp dispenser configured to insert, expand, and remove expansible clamps into and out of pre-drilled pilot holes in the selective portions during a one up assembly for drilling of fastener holes in the two components,
• wherein each of the end effectors has the expansible clamp holster configured to automatically dispense and retrieve expansible clamps into and from the solitary expansible clamp dispenser to transiently preload together a portion of the two components under a predetermined force during each instance of an automated drilling of a fastener hole in the two components, and
• wherein each of the end effectors is programmed to execute an automated sequence comprising:
• dispensing, from the expansible clamp holster via the solitary expansible clamp dispenser, the expansible clamps into the pre-drilled pilot holes;
• torquing, via the solitary expansible clamp dispenser, the expansible clamps in the pre-drilled pilot holes to temporarily clamp the components together;
• drilling, via the automated drilling head, the fastener holes in the components adjacent the expansible clamps;
• untorquing, via the solitary expansible clamp dispenser, the expansible clamps;
• and
• removing, via the solitary expansible clamp dispenser, the expansible clamps from the pre-drilled pilot holes during the drilling of the fastener holes in the components.