Robotic End Effector Trajectory Planning for Aircraft Fasteners
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Solution Overview
Problem
The challenge in aircraft fastener removal lies in the non-uniform arrangement of fasteners across different aircraft models, requiring individualized orientation and type consideration for proper removal, which complicates the design of automated systems due to varying fastener configurations and the inability to use one aircraft part's fastener orientation as a template for another.
Innovation Solution
A system that guides a robot through dynamic path planning and trajectory planning using user interface (UI) technology, allowing for point cloud data processing, feature extraction, and calculation of three-dimensional positions to accurately direct a drill or end effector to fasteners, while avoiding collisions and accounting for robot limitations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If individualized path planning is implemented for each fastener configuration, then removal precision is improved, but system complexity increases
Solution Approach 1:
The system dynamically generates paths and trajectories based on real-time detection of fastener positions and orientations. Rather than using fixed pre-programmed paths, the robot adapts its motion plan to match the actual configuration detected during operation, enabling precise removal while maintaining system flexibility
Solution Approach 2:
The system performs self-calibration and self-adjustment by detecting fastener configurations automatically and generating appropriate removal paths without external intervention. The automated detection and path generation systems enable the robot to adapt to different aircraft models and fastener arrangements independently
2Productivity
If automated detection and path generation systems are implemented, then operation efficiency is improved, but device complexity increases
Solution Approach 1:
The system integrates multiple functions including fastener detection, position calculation, path generation, and trajectory planning into a single integrated platform. This multi-functional approach improves operational efficiency across different aircraft models and fastener types while avoiding the need for multiple separate systems
Solution Approach 2:
The patent replaces manual operation with automated detection systems (optical sensors, cameras) and computational algorithms for path generation. This substitution of mechanical/manual processes with automated systems improves efficiency and consistency while the integration of these functions manages the complexity
Data Source
AI summary
Aspects of the disclosure are directed towards path generation. A method includes a device registering working frame of a target object with a reference frame of a robot. The device can generate a path over a representation of a surface of the target object. The device can generate a trajectory over the surface of the target object based on the registration, the path, and a normal. The device can classify a target type for the real-world target using a machine learning model based on scanned data of the surface of the target object. The device can generate a robot job file, wherein the robot job file comprises the trajectory and an autonomous operation instruction. The device can transmit the robot job file to a robot controller.