Automated clamp

A method of automatically clamping a rib web to a rib post or integrated rib foot of an aircraft wing box for automated drilling and/or fastening the rib web to a rib post or integrated rib foot, the method comprising:

• providing an automated clamp system for clamping a rib web to a rib post or integrated rib foot of an aircraft wing box, the automated clamp system comprising:
• a clamp, comprising:
• a clamp frame having a first arm and a second arm;
• a robot end effector connector coupled to the clamp frame;
• clamp jaws including a first jaw at a proximal end of one of the first and second arms, and a second jaw at a proximal end of the other of the first and second arms,
• wherein
• in a first configuration, the first and second clamp jaws are respectively mounted to side surfaces at the proximal ends of the first and second arms such that the jaws are laterally offset from a plane of the clamp frame bisecting each of the first and second arms, and
• in a second configuration, the first and second clamp jaws are respectively mounted to end surfaces at the proximal ends of the first and second arms such that the jaws are substantially in the plane of the clamp frame,
• wherein the clamp jaws are capable of being moved between the first configuration and the second configuration,
• wherein at least one of the clamp jaws is moveable towards and away from the other of the clamp jaws by a motor to open and close the jaws,
• wherein at least one of the clamp jaws has an aperture configured to receive a tool module,
• wherein at least one of the clamp jaws has at least one position sensor for detecting a position of the clamp relative to the aircraft wing box;
• and
• a robot having a first robot arm coupled to the end effector connector of the clamp,
• a second robot arm having at least one tool module, wherein the tool module has an expanding chuck or collet for securing the tool module in the aperture of one of the clamp jaws, and
• a control system configured to receive input from the at least one position sensor and to operate the first robot arm, the second robot arm, the motor, and the expansion and contraction of the chuck or collet of the tool module;
• using the first robot arm to position the automated clamp, wherein the first robot arm positions the automated clamp based on a clamp position with respect to the wing box detected by the position sensor;
• closing the clamp jaws by operating the motor when the clamp is in a desired position with respect to the wing box to clamp a rib web to a rib post or integrated rib foot of the aircraft wing box;
• and
• using the second robot arm to position the tool module in the aperture.