Adaptable support system for grasping variable geometry structures

A stringer placement system, comprising:

• a plurality of end effectors supported along a support structure, wherein the support structure comprises:
• a plurality of longitudinal stiffeners, wherein each respective longitudinal stiffener of the plurality of longitudinal stiffeners comprises a lower circumferential guide track and a rack gear;
• and
• a gimbal assembly coupled to each respective end effector of the plurality of end effectors, wherein the gimbal assembly is configured to allow the respective end effector to rotate about at least one axis;
• a radial actuation system coupled to the respective end effector, wherein:
• the radial actuation system comprises a radial actuator;
• and
• the radial actuator is configured to move the respective end effector in a direction orthogonal to a respective longitudinal stiffener;
• a circumferential actuation system coupled to the respective end effector, wherein:
• the circumferential actuation system comprises a circumferential actuator coupled to a pinion gear;
• and
• the pinion gear is configured to engage the rack gear of the respective longitudinal stiffener to move the respective end effector along the respective longitudinal stiffener;
• and
• a lower carriage assembly configured to movably attach the radial actuation system and the circumferential actuation system to the lower circumferential guide track of the respective longitudinal stiffener.

A method of grasping an object using an end effector, comprising:

• moving an end effector system along a circumferential guide track of a longitudinal stiffener using a first actuator, the end effector system comprising:
• the end effector coupled to a gimbal assembly, wherein:
• the end effector is configured to grasp an object;
• and
• the gimbal assembly is attached to a shaft;
• a second actuator coupled to the shaft, wherein the second actuator is configured to move the shaft;
• and
• a self-alignment assembly, comprising:
• a first surface coupled to the end effector;
• and
• a second surface coupled to the second actuator and configured to interface with the first surface;
• moving the end effector in a direction perpendicular to the longitudinal stiffener such that the end effector contacts the object and rotates about an axis of the gimbal assembly;
• and
• grasping the object with the end effector.