Dual-Platform Work Envelope Isolating Robot Positioning from Human Motion
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Solution Overview
Problem
Current platforms inside aircraft fuselage assemblies are not isolated, causing end-of-arm tooling on robots to be displaced due to human or machine motion, leading to positioning errors.
Innovation Solution
A base platform with a narrower work platform positioned above it, allowing humans to work safely while keeping robots isolated from platform movement, using gantries and a cable carrier system for independent robot support and power supply.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a single integrated platform is used inside the fuselage assembly, then human access and robot operation are simplified, but robot positioning accuracy deteriorates due to platform movement from human or machine motion
Solution Approach 1:
The platform is divided into two separate platforms: a base platform for robot support and a work platform for human access. This segmentation allows independent stabilization of the robot positioning system while providing human workspace, resolving the contradiction between ease of operation and manufacturing precision.
Solution Approach 2:
The base platform acts as an intermediary between the fuselage assembly and the robots, providing a stable reference frame. By placing robots on the base platform rather than directly on the moving work platform, the system mediates the conflict between human movement and robot positioning accuracy.
2Ease of operation
If the work platform is made wider to accommodate both humans and robots, then accessibility is improved, but the available space for robot positioning areas is reduced
Solution Approach 1:
The solution transitions from a single horizontal plane to a vertical arrangement with two platforms at different heights. The base platform provides robot positioning areas while the elevated work platform provides human accessibility, effectively using the vertical dimension to resolve the space conflict.
Solution Approach 2:
By segmenting the workspace into a base platform for robots and an elevated work platform for humans, the system allows each platform to be optimized independently for its specific function, maximizing both accessibility and robot positioning area within the constrained fuselage space.
3Volume of moving object
If robots are positioned on the work platform with humans, then space utilization is maximized, but positioning accuracy deteriorates due to platform movement
Solution Approach 1:
The system segments the positioning function from the work function by placing robots on the stable base platform while humans work on the elevated work platform. This ensures that robot positioning accuracy is maintained independent of human movement, while still achieving high space utilization through vertical stacking.
Solution Approach 2:
The base platform serves as an intermediary that decouples robot positioning from work platform movement. Robots positioned on the base platform maintain accurate end-of-arm tooling positions even when the elevated work platform moves due to human or machine motion.
Data Source
AI summary
A method and apparatus for supporting collaborative robots and humans in a narrowing work envelope. A base platform is provided, and a work platform is positioned above the base platform for supporting one or more humans, wherein the work platform is narrower than the base platform, and the work platform is positioned relative to the base platform to provide areas for positioning one or more robots on one or more sides of the work platform. The robots are supported on the base platform independently of the work platform, so that movement of the work platform does not affect the robots' positions.