Robotic End Effector Fastener Templating for Rapid Placement
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Solution Overview
Problem
The installation of thousands of fasteners in large assemblies, such as aircraft, is time-consuming due to the repetitive arm and hand movements required for preparing fastener templates.
Innovation Solution
Robotic end effectors comprising a housing, positioner, and translator, which sequentially receive, move, and translate fasteners from a source to a deploying position and then to fastener holders, utilizing sensors and controllers for automation and compatibility with various fastener configurations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If manual preparation of fastener templates is used, then flexibility in handling different fastener configurations is maintained, but the process becomes very time consuming and requires repetitive arm and hand movements
Solution Approach 1:
The robotic end effector is designed to automatically receive fasteners from a source, position them sequentially, and translate them to the fastener holder without human intervention. The system serves itself by integrating the positioner, translator, and fastener holder into one automated unit that performs the entire fastener preparation and installation process
Solution Approach 2:
Manual arm and hand movements are replaced by an automated robotic system comprising a positioner mechanism and a translator mechanism. The robotic end effector uses controlled mechanical movements to sequentially position and translate fasteners, eliminating the need for repetitive manual operations while maintaining precision
2Productivity
If robotic automation is implemented, then repetitive manual movements are eliminated and efficiency increases, but the device complexity increases
Solution Approach 1:
The positioner mechanism and translator mechanism are merged into a single integrated robotic end effector assembly. The positioner and translator work together as one coordinated system, sharing common components such as the housing and control systems, which reduces overall system complexity compared to having separate independent mechanisms
Solution Approach 2:
The robotic end effector is designed with universal functionality to handle different fastener configurations. The positioner and translator can accommodate various fastener types and orientations, making the complex device adaptable to multiple applications rather than requiring separate specialized mechanisms for each fastener type
Data Source
AI summary
End effectors comprise a housing, a positioner, and a translator. The positioner is supported by the housing and is configured to sequentially receive fasteners from a source of fasteners into a receiving position and sequentially move fasteners from the receiving position to a deploying position. The translator is supported by the housing relative to the positioner and is configured to sequentially translate fasteners from the deploying position to ports of a fastener holder. Robotic methods comprise sequentially receiving fasteners from a source of fasteners into a receiving position, sequentially moving fasteners from the receiving position to a deploying position, and sequentially translating fasteners from the deploying position to ports of a fastener holder.