Force Feedback for Assembly of Aircraft Structures

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

Achieving low cost and high quality aero structure assembly through integrated digital metrology systems

Measurement assisted assembly (MAA) has the potential to facilitate a step change in assembly efficiency for large structures such as airframes through the reduction of rework, manually intensive processes and expensive monolithic assembly tooling. It is shown how MAA can enable rapid part-to-part assembly, increased use of flexible automation, traceable quality assurance and control, reduced structure weight and improved aerodynamic tolerances. These advances will require the development of automated networks of measurement instruments; model based thermal compensation, the automatic integration of 'live' measurement data into variation simulation and algorithms to generate cutting paths for predictive shimming and drilling processes. This paper sets out an architecture for digital systems which will enable this integrated approach to variation management. © 2013 The Authors

Global Cost and Weight Evaluation of Fuselage Side Panel Design Concepts

This report documents preliminary design trades conducted under NASA contracts NAS1 18889 (Advanced Technology Composite Aircraft Structures, ATCAS) and NAS1-19349 (Task 3, Pathfinder Shell Design) for a subsonic wide body commercial aircraft fuselage side panel section utilizing composite materials. Included in this effort were (1) development of two complete design concepts, (2) generation of cost and weight estimates, (3) identification of technical issues and potential design enhancements, and (4) selection of a single design to be further developed. The first design concept featured an open-section stringer stiffened skin configuration while the second was based on honeycomb core sandwich construction. The trade study cost and weight results were generated from comprehensive assessment of each structural component comprising the fuselage side panel section from detail fabrication through airplane final assembly. Results were obtained in three phases: (1) for the baseline designs, (2) after global optimization of the designs, and (3) the results anticipated after detailed design optimization. A critical assessment of both designs was performed to determine the risk associated with each concept, that is the relative probability of achieving the cost and weight projections. Seven critical technical issues were identified as the first step towards side panel detailed design optimization

Virtual shimming simulation for smart assembly of aircraft skin panels based on a physics-driven digital twin

A leading challenge in the assembly process of aircraft skin panels is the precise control of part-to-part gaps to avoid excessive pre-tensions of the fastening element which, if exceeded, impair the durability and the response under dynamics loads of the whole skin assembly. The current practice is to measure the gap in specific points of the assembly with parts already at their final location, and then be-spoke shims are machined and inserted between the mating components to fill the gap. This process involves several manual measurement-fit-adjust quality loops, such as loading parts on the assembly frame, measuring gaps, off-loading parts, adding be-spoke shims and re-positioning parts ready for the fastening operation—as a matter of fact, the aircraft is re-assembled at least twice and therefore the current practice has been proved highly cost and time ineffective. Additionally, the gap measurement relies on manual gauges which are inaccurate and unable to follow the actual 3D profile of the gap. Taking advantage of emerging tools such as in-line measurement systems and large-scale physics-based simulations, this paper proposes a novel methodology to predict the part-to-part gap and therefore minimise the need for multiple quality loops. The methodology leverages a physics-driven digital twin model of the skin assembly process, which combines a physical domain (in-line measurements) and a digital domain (physics-based simulation). Central to the methodology is the variation model of the multi-stage assembly process via a physics-based simulation which allows to capture the inherent deformation of the panels and the propagation of variations between consecutive assembly stages. The results were demonstrated during the assembly process of a vertical stabiliser for commercial aircraft, and findings showed a significant time saving of 75% by reducing costly and time-consuming measurement-fit-adjust quality loops

Reducing the acquisition cost of the next fighter jet using automation

The acquisition cost of fast-jets has increased exponentially since WWII, placing defence budgets under severe pressure. Fleet sizes are contracting as fewer new aircraft are ordered, and with new programmes few and far between the methods of assembling airframes have hardly changed in fifty-years. Modern airframes rely on traditional welded steel assembly fixtures and high accuracy machine tools, which represent a significant non-recurring cost that cannot be reconfigured for re-use on other programmes. This research investigates the use of automation to reduce the acquisition cost. Its aim is to demonstrate innovations, which will collectively assist in achieving the twin goals of Tempest, to be manufactured 50-percent faster and 50-percent cheaper, through the re-configuration and re-use of automation, creating a flexible factory-of-the-future. Two themes were explored, the UK-MOD’s acquisition process, to position this research in the timeframe of the next generation of fast-jet, and the use of automation in airframe assembly globally, specifically focusing on Measurement Assisted Assembly (MAA), part-to-part methods and predictive processes. A one-to-one scale demonstrator was designed, manufactured and assembled using MAA; and from the measurement data additively manufactured shims for the structure’s joints were produced. The key findings are that; metrology guided robots can position parts relative to one-another, to tolerances normally achieved using welded steel fixtures, maintaining their position for days, and can then be reconfigured to assemble another part of the structure. Drilling the parts during their manufacture on machine tools, using both conventional and angle-head tooling, enables them to be assembled, negating the requirement to use traditional craft-based skills to fit them. During the manufacture of the parts, interface data can be collected using various types of metrology, enabling them to be virtually assembled, creating a Digital Twin, from which any gaps between parts can be modelled and turned into a shim using an additive manufacturing process with the limitation that current AM machines do not produce layers thin enough to fully meet the shimming requirement. The acquisition process requires, a technology to be demonstrated at technology readiness level (TRL) 3 during the concept phase, and have a route-map to achieve TRL 6 in the development phase, following the assessment phase. The novel use of automation presented in this thesis has the potential to enable manufacturing assets to be re-configured and re-used, significantly reducing impacting the acquisition costs of future airframe programmes. Collectively the innovations presented can significantly reduce the estimated 75 percent of touch labour costs and 9 percent of non-recurring costs associated with assembling an airframe. These innovations will help to enable a digital transformation that, together with other Industry 4.0 technologies and methods, can collectively enable the automated manufacture of customised aerospace products in very-low volumes. This is of relevance not only to next generation fighter jets, but also to emerging sectors such as air-taxis

Integrated Dimensional Variation Management in the Digital Factory

This paper describes how dimensional variation management could be integrated throughout design, manufacture and verification, to improve quality while reducing cycle times and manufacturing cost in the Digital Factory environment. Initially variation analysis is used to optimize tolerances during product and tooling design and also results in the creation of a simplified representation of product key characteristics. This simplified representation can then be used to carry out measurability analysis and process simulation. The link established between the variation analysis model and measurement processes can subsequently be used throughout the production process to automatically update the variation analysis model in real time with measurement data. This ‘live’ simulation of variation during manufacture will allow early detection of quality issues and facilitate autonomous measurement assisted processes such as predictive shimming. A study is described showing how these principles can be demonstrated using commercially available software combined with a number of prototype applications operating as discrete modules. The commercially available modules include Catia/Delmia for product and process design, 3DCS for variation analysis and Spatial Analyzer for measurement simulation. Prototype modules are used to carry out measurability analysis and instrument selection. Realizing the full potential of Metrology in the Digital Factory will require that these modules are integrated and software architecture to facilitate this is described. Crucially this integration must facilitate the use of realtime metrology data describing the emerging assembly to update the digital model.</p