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Assembly of Compliant Structures with Autonomous Industrial Mobile Manipulators (AIMM) Using an End Effector with Active Deformation Compensation for the Assembly of Flaps

Neitmann, Maximilian und Rothe, Tom und Kappel, Erik und Hühne, Christian (2022) Assembly of Compliant Structures with Autonomous Industrial Mobile Manipulators (AIMM) Using an End Effector with Active Deformation Compensation for the Assembly of Flaps. Machines, Seiten 1-19. Multidisciplinary Digital Publishing Institute (MDPI). doi: 10.3390/machines10050291. ISSN 2075-1702.

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Kurzfassung

Abstract: Composite structures in aeroplanes are often thin-walled and lightweight, resulting in significant compliance, which presents a handling and assembly challenge due to the associated part deformations. In order to counteract these deformations, the parts are held in their specified geometry using stiff and correspondingly heavy fixtures or jigs. Mobile industrial robots are very versatile and widely used in industrial volume production, but they are limited in their payload capacity. High-rate production of large aerospace modules requires highly automated flexible assembly processes. The approach presented in this paper is to combine mobile units with lightweight assembly jigs that have the capability of deformation compensation. The subject of the study is a high-rate assembly process for flap modules using an Autonomous Industrial Mobile Manipulator (AIMM) and a lightweight end effector. The end effector has a shape compensation function, implemented by an integrated Stewart platform, which enables the compensation of manufacturing tolerances as well as gravity effects. The compensation function is used in a closed loop and counteracts shape deviations by appropriate fixture shape adjustments. The paper reports on the conceptual design of the assembly scenario, the design of the end effector, its realization and the successful experimental demonstration at 1:1 scale.

elib-URL des Eintrags:https://elib.dlr.de/186354/
Dokumentart:Zeitschriftenbeitrag
Titel:Assembly of Compliant Structures with Autonomous Industrial Mobile Manipulators (AIMM) Using an End Effector with Active Deformation Compensation for the Assembly of Flaps
Autoren:
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iDORCID Put Code
Neitmann, Maximilianm.neitmann (at) tu-braunschweig.dehttps://orcid.org/0000-0001-8305-452XNICHT SPEZIFIZIERT
Rothe, Tomt.rothe (at) tu-braunschweig.dehttps://orcid.org/0000-0001-7066-3211NICHT SPEZIFIZIERT
Kappel, ErikErik.Kappel (at) dlr.dehttps://orcid.org/0000-0002-8760-8451NICHT SPEZIFIZIERT
Hühne, Christianchristian.huehne (at) dlr.dehttps://orcid.org/0000-0002-2218-1223NICHT SPEZIFIZIERT
Datum:22 April 2022
Erschienen in:Machines
Referierte Publikation:Ja
Open Access:Ja
Gold Open Access:Ja
In SCOPUS:Ja
In ISI Web of Science:Ja
DOI:10.3390/machines10050291
Seitenbereich:Seiten 1-19
Verlag:Multidisciplinary Digital Publishing Institute (MDPI)
ISSN:2075-1702
Status:veröffentlicht
Stichwörter:Autonomous Industrial Mobile Manipulator (AIMM); mobile robot; compliant structures; lightweight assembly jigs; tolerance compensation; flap-modules; Stewart platform; final assembly line
HGF - Forschungsbereich:Luftfahrt, Raumfahrt und Verkehr
HGF - Programm:Luftfahrt
HGF - Programmthema:Effizientes Luftfahrzeug
DLR - Schwerpunkt:Luftfahrt
DLR - Forschungsgebiet:L EV - Effizientes Luftfahrzeug
DLR - Teilgebiet (Projekt, Vorhaben):L - Flugzeugtechnologien und Integration
Standort: Braunschweig
Institute & Einrichtungen:Institut für Faserverbundleichtbau und Adaptronik > Funktionsleichtbau
Hinterlegt von: Kappel, Dr.-Ing. Erik
Hinterlegt am:23 Mai 2022 05:55
Letzte Änderung:27 Mai 2022 10:55

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