Autonomous Mobile Fixture With Force Feedback Control

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Solution Overview

Problem

Conventional mobile fixture systems are inefficient and inconvenient to program and control, particularly when used in groups for positioning and transporting large parts or assemblies, as they often require networked communications and are application-specific, limiting their re-purposing for different workflows or products.

Innovation Solution

A mobile fixture system comprising multiple fixtures with movable bases, articulable support platforms, adaptor interfaces, sensors, and controllers that can autonomously control movement based on detected forces or movements, allowing concurrent engagement with an attachment member and operation without traditional data networking.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If conventional mobile fixtures are networked and communicatively coupled to control signals, then coordination and control capability is improved, but system complexity and programming difficulty increases

Engineering Contradiction:

Improvecontrol capabilityVSAvoidsystem complexity

Core Design Contradiction:

Ease of operationVSDevice complexity

Solution Approach 1:

Each mobile fixture autonomously senses forces and movements through its own sensors and independently controls its support platform articulation, eliminating the need for external network control signals. The fixture serves itself by using onboard sensors and controllers to maintain operational coordination without complex networking infrastructure.

Inventive Principle:

Principle #25Self-service

2Measurement precision

If mobile fixtures are designed for specific applications with networked control, then control precision is improved, but adaptability to different workflows or products decreases

Engineering Contradiction:

Improvecontrol precisionVSAvoidre-purposing capability

Core Design Contradiction:

Measurement precisionVSAdaptability or versatility

Solution Approach 1:

The mobile fixture design incorporates universal adaptor interfaces and force-sensitive control mechanisms that can accommodate different attachment members and workflows. The sensor-based autonomous control system adapts to various applications without requiring reprogramming or network reconfiguration, enabling the same fixture to serve multiple purposes across different manufacturing contexts.

Inventive Principle:

Principle #6Universality (Multi-functionality)

3Measurement precision

If integrated metrology systems with networked communications are used, then measurement and control accuracy is improved, but dependency on network infrastructure increases

Engineering Contradiction:

Improvemeasurement accuracyVSAvoidnetwork dependency

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The patent extracts the measurement and control functionality from the network infrastructure and embeds it directly within each mobile fixture. Force sensors and movement detectors are integrated into the fixture itself, along with autonomous control logic, eliminating the need for external metrology systems and network communications while maintaining measurement precision.

Inventive Principle:

Principle #2Taking out (Extraction)

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

Enables efficient and flexible control of mobile fixtures for supporting and transporting large parts or assemblies, such as aircraft fuselage, by using distributed control strategies and force feedback, facilitating hand-guided movement and re-purposing without the need for complex networked communications.

Implementation Method 1

The at least one sensor is coupled to the adaptor interface, and is configured to detect at least one of a force or movement resulting from an interaction between the adaptor interface and the attachment member

Methodology Applied

Scientific EffectForce feedback: Force

Implementation Method 2

Methodology Applied

Scientific EffectMovement detection: Displacement

Data Source

PatentUS10782696B2Mobile fixture apparatuses and methods

Publication Date: 2020.09.22 THE BOEING CO

AI summary

A mobile fixture includes a movable base, a support platform, an adaptor interface, at least one sensor, and a controller. The movable base is configured to travel over a floor. The support platform is articulable with respect to the base. The adaptor interface moves with the support platform, and is configured to mechanically interface with an attachment member. The at least one sensor is coupled to the adaptor interface and is configured to detect at least one of a force or movement resulting from an interaction between the adaptor interface and the attachment member. The controller is operably coupled to the movable base, support platform, and at least one sensor, and is configured to control movement of at least one of the movable base or support platform responsive to the at least one of the force or movement detected by the at least one sensor.