Mobile robot platform

A robot arrangement for processing an aircraft structural component with a robot, with a height adjustment unit for vertically adjusting the robot,

• the robot being arranged in a vertically adjustable fashion on the height adjustment unit,
• the robot having robot kinematics for positioning an end effector with at least one tool, and
• the robot kinematics having a first robot joint with a first robot limb, which is mounted ahead of the first robot joint, and with a second robot limb, which is mounted after the first robot joint, and a second robot joint ahead of which the second robot limb is mounted and after which a third robot limb is mounted,
• wherein
• a third robot joint is mounted after the third robot limb, and wherein the first robot joint, the second robot joint and the third robot joint have essentially parallel rotational axes, and
• wherein the end effector has a first pivoting unit for pivoting the at least one tool about a rotational axis, wherein the rotational axis of the first pivoting unit is arranged inclined with respect to the rotational axis of the third robot joint and/or runs through the tool center point of the end effector.

A method for processing an aircraft structural component with a mobile robot platform with a robot, with a platform which can be moved on a floor in a horizontal movement direction, and with a height adjustment unit, arranged on the platform, for vertically adjusting the robot,

• the robot being arranged in a vertically adjustable fashion on the height adjustment unit, the robot having robot kinematics for positioning an end effector, and
• the robot kinematics having a first robot joint with a first robot limb, which is mounted ahead of the first robot joint, and with a second robot limb, which is mounted after the first robot joint, and a second robot joint ahead of which the second robot limb is mounted and after which a third robot limb is mounted,
• wherein
• a third robot joint is mounted after the third robot limb, and wherein the first robot joint, the second robot joint and the third robot joint have essentially parallel rotational axes, and the end effector processes the aircraft structural component.