elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

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 and Rothe, Tom and Kappel, Erik and 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, pp. 1-19. Multidisciplinary Digital Publishing Institute (MDPI). doi: 10.3390/machines10050291. ISSN 2075-1702.

[img] PDF - Published version
44MB

Abstract

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.

Item URL in elib:https://elib.dlr.de/186354/
Document Type:Article
Title:Assembly of Compliant Structures with Autonomous Industrial Mobile Manipulators (AIMM) Using an End Effector with Active Deformation Compensation for the Assembly of Flaps
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Neitmann, MaximilianUNSPECIFIEDhttps://orcid.org/0000-0001-8305-452XUNSPECIFIED
Rothe, TomUNSPECIFIEDhttps://orcid.org/0000-0001-7066-3211UNSPECIFIED
Kappel, ErikUNSPECIFIEDhttps://orcid.org/0000-0002-8760-8451UNSPECIFIED
Hühne, ChristianUNSPECIFIEDhttps://orcid.org/0000-0002-2218-1223UNSPECIFIED
Date:22 April 2022
Journal or Publication Title:Machines
Refereed publication:Yes
Open Access:Yes
Gold Open Access:Yes
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI:10.3390/machines10050291
Page Range:pp. 1-19
Publisher:Multidisciplinary Digital Publishing Institute (MDPI)
ISSN:2075-1702
Status:Published
Keywords:Autonomous Industrial Mobile Manipulator (AIMM); mobile robot; compliant structures; lightweight assembly jigs; tolerance compensation; flap-modules; Stewart platform; final assembly line
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:Efficient Vehicle
DLR - Research area:Aeronautics
DLR - Program:L EV - Efficient Vehicle
DLR - Research theme (Project):L - Aircraft Technologies and Integration
Location: Braunschweig
Institutes and Institutions:Institute of Composite Structures and Adaptive Systems > Functional Lightweight Structures
Deposited By: Kappel, Dr.-Ing. Erik
Deposited On:23 May 2022 05:55
Last Modified:27 May 2022 10:55

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Website and database design: Copyright © German Aerospace Center (DLR). All rights reserved.