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Smart sensors for autonomous robotic panel assembly

Schuster, Alfons and Frommel, Christoph and Schmorell, Demas and Mayer, Monika and Willmeroth, Mark and Kupke, Michael and Kiefer, Lucas and Geissler, Dominik and Rittler, Dominik (2022) Smart sensors for autonomous robotic panel assembly. In: SAMPE 2022 Proceedings. SAMPE Europe 2022, 15.-17. Nov. 2022, Hamburg, Deutschland.

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Abstract

Manufacturing of a typical aluminium airframe panel involves the assembly of a couple of stringers and several dozens of clips. The stringers have to be mounted to the skin by riveting, while the clips are glued by using a fast hardening sealant. Though there are stringers and clips of identical geometry, there is too much part variation to make automation an easy task, and since tolerances are introduced by sagging manual work is still state of the art in order to cope with this. The paper is about the implementation of a computer vision sensor system that is capable of identifying individual clips by their CAD-drill hole pattern, determine the clips position and allow a robot to correctly pick and place them regardless of positional tolerances. In addition to that, a high accuracy drill hole detector that enables to correctly pick and place stringers and compensates the sagging effects, has been implemented. To ensure the quality of the detection processes the position of the individual parts have been investigated by a structured-light 3D-Camera. Within the paper the involved measurement technologies and the robot calibration are focused. An overview of the entire process chain is also given as well as an outlook to future applications in related areas.

Item URL in elib:https://elib.dlr.de/192184/
Document Type:Conference or Workshop Item (Speech)
Title:Smart sensors for autonomous robotic panel assembly
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Schuster, AlfonsUNSPECIFIEDhttps://orcid.org/0000-0002-7444-366XUNSPECIFIED
Frommel, ChristophUNSPECIFIEDhttps://orcid.org/0000-0002-3717-1087UNSPECIFIED
Schmorell, DemasUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Mayer, MonikaUNSPECIFIEDhttps://orcid.org/0000-0002-4448-9501UNSPECIFIED
Willmeroth, MarkUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Kupke, MichaelUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Kiefer, LucasUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Geissler, DominikUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Rittler, DominikUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Date:17 November 2022
Journal or Publication Title:SAMPE 2022 Proceedings
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:computer vision, production techology, production automation, robotic production, aerospace production
Event Title:SAMPE Europe 2022
Event Location:Hamburg, Deutschland
Event Type:international Conference
Event Dates:15.-17. Nov. 2022
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:Components and Systems
DLR - Research area:Aeronautics
DLR - Program:L CS - Components and Systems
DLR - Research theme (Project):L - Production Technologies
Location: Augsburg
Institutes and Institutions:Institute of Structures and Design > Automation and Production Technology
Deposited By: Schuster, Dr.-Ing. Alfons
Deposited On:12 Dec 2022 11:47
Last Modified:12 Dec 2022 11:47

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