Robotic Arm UI Path Planning for Aircraft Fastener Removal
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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 manufacturing precision is improved, but device complexity increases
Solution Approach 1:
The system performs preliminary scanning and point cloud data acquisition before fastener removal operations. By pre-processing the spatial data and identifying fastener locations and orientations in advance, the system establishes a digital model that guides subsequent operations, thereby achieving precise fastener removal without requiring complex real-time adjustments during execution
Solution Approach 2:
The system creates a digital point cloud copy of the aircraft structure and fastener configurations. This virtual model serves as a template that can be reused and adapted for different fastener arrangements, eliminating the need to physically reconfigure the system for each unique fastener pattern while maintaining high precision through accurate digital replication
2Adaptability or versatility
If dynamic path planning is used to accommodate varying fastener orientations, then adaptability is improved, but loss of time increases
Solution Approach 1:
The system employs dynamic path planning that adapts to varying fastener orientations and positions. The point cloud data enables the system to automatically adjust trajectories and approach angles for each fastener based on its specific configuration, providing the flexibility needed to handle diverse fastener arrangements while maintaining operational efficiency through automated real-time path optimization
3Measurement precision
If detailed point cloud processing is performed for each aircraft part, then measurement precision is improved, but use of energy increases
Solution Approach 1:
The system extracts only the essential features and data points from the point cloud that are relevant to fastener identification and positioning. By filtering and selecting critical geometric features rather than processing the entire point cloud in detail, the system achieves sufficient measurement precision for fastener locations while significantly reducing the computational energy required for data processing
Data Source
AI summary
Aspects of the disclosure are directed towards path generation. A method includes a user interface (UI) displaying a first page on a first pane, wherein the first page provides a first control input for registering a working frame of a target object with a reference frame of a robot. The method further includes receiving, via the UI, a first user selection of the first control input for registering the working frame with the reference frame, based on detection of the first user selection. The UI can display a second page on the first pane, wherein the second page provides a second control input for generating a path for the robot to traverse over a surface of the target object. The method further includes receiving, via the UI, a second user selection of the second control input for generating the path, based on detection of the second user selection.