Synchronous robotic operation on a structure having a confined space

#During assembly of an aircraft, certain operations are performed synchronously on opposite sides of a structure. Consider a fastening operation on a wing box. A robotic system outside the wing box performs drilling, countersinking and fastener insertion tasks. A person inside the wing box supports these tasks, and also places a sleeve and nut over the inserted fastener while the robotic system is holding the fastener.

#It would be desirable to eliminate the manual labor and fully automate such a fastening operation. Yet while placing a nut over the threads of a bolt might be a simple task for a human, it is not so simple for a robotic system. Precise positioning and orientation of a nut over a bolt is a complex task.

#This task is even more complex because a robotic system would have to attach the nut in a confined space. The task is even more complex because the robotic system would have to enter the confined space via an access hole. The task is even more complex because aircraft tolerances are extremely tight. The task is even more complex because the robotic system inside the confined space has to synchronize its tasks with those of the robotic system outside the confined space.

#FIG. 1 is an illustration of a system including first and second robotic systems and a robotic controller.

#FIG. 2 is an illustration of a method of operating the robotic systems.

#FIGS. 3a and 3b are illustrations of an apparatus and method for precise positioning within a confined space.

#Reference is made to FIG. 1, which illustrates first and second robotic systems 110 and 120 for performing one or more operations on a structure having a confined space. The first robotic system 110 includes a positioning and orientation system 112 for moving a first end effector 114 into the confined space and positioning and orienting the first end effector 114 within the confined space. The second robotic system 120 includes a positioning and orientation system 122 for moving a second end effector 124 outside the confined space. Once the first and second end effectors 114 and 124 are oriented and positioned, they perform one or more operations (e.g., assembly operations) on the structure.

#A robotic controller 130 may include a computer that is programmed to operate the robotic systems 110 and 120. The computer includes computer memory that is encoded with data for commanding the first and second robotic system 110 and 120.

#Reference is now made to FIG. 2, which illustrates a method of operating the first and second robotic systems 110 and 120 to perform a synchronous operation on a structure having a confined space. The structure has a location that is identifiable from within the confined space and also from outside the confined space. The location might be identified, without limitation, by visual means (e.g., a mark, a fastener, or a hole or other feature of the structure), magnetic means (e.g., by an embedded magnet), or by an instrumented fastener (described later).