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Force Feedback for Assembly of Aircraft Structures
Linköping University, Department of Management and Engineering, Assembly technology . Linköping University, The Institute of Technology.
Linköping University, Department of Management and Engineering, Assembly technology . Linköping University, The Institute of Technology.
Lund University, Department of Automatic Control.
Lund University, Department of Automatic Control.
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2010 (English)In: Proceedings of the SAE 2010 Aerospace Manufacturing and Automated Fastening Conference & Exhibition, SAE International, 2010Conference paper, Published paper (Refereed)
Abstract [en]

Variability in composite manufacture and the limitations in positional accuracy of common industrial robots have hampered automation of assembly tasks within aircraft manufacturing. One way to handle geometry variations and robot compliancy is to use force control. Force control technology utilizes a sensor mounted on the robot to feedback force data to the controller system so instead of being position driven, i.e. programmed to achieve a certain position with the tool, the robot can be programmed to achieve a certain force. This paper presents an experimental case where a compliant rib is aligned to multiple surfaces using force feedback and an industrial robot system from ABB. Two types of ribs where used, one full size carbon fiber rib, and one smaller metal replica for evaluation purposes. The alignment sequence consisted of several iterative steps and a search procedure was implemented within the robot control system. The technology has the potential to lessen the need for dedicated tooling, reduce the need for traditional workspace calibration and can be used in several other applications, such as pin and socket type assemblies found in pylons or landing gear or “part to part” assemblies such as leading edge ribs to spar.

Place, publisher, year, edition, pages
SAE International, 2010.
National Category
Control Engineering Production Engineering, Human Work Science and Ergonomics
Identifiers
URN: urn:nbn:se:liu:diva-63177DOI: 10.4271/2010-01-1872OAI: oai:DiVA.org:liu-63177DiVA: diva2:376753
Conference
SAE 2010 AMAF
Projects
ProFlexa
Available from: 2010-12-13 Created: 2010-12-13 Last updated: 2010-12-30

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Publisher's full texthttp://papers.sae.org/2010-01-1872

Authority records BETA

Jonsson, MarieMurray, ThomasOssbahr, Gilbert

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Jonsson, MarieMurray, ThomasOssbahr, Gilbert
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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf