Patent ID: 6428452
Filing Date: 2002-08-06
Classification: B23P,B25J,B64F,Y10S,Y10T

Abstract:
A method for assembling an aircraft wing, the method comprising:a) mounting on an arm of a robot a first tool holder with tools operable to perform a first work operation, wherein the robot is mobile relative to the wing in a plane substantially parallel to the wing; b) searching the wing with the robot arm for a first predrilled center hole for an anchor nut; c) maneuvering the robot arm to a work position determined by the position of the first predrilled center hole and information in a memory; d) carrying out with the robot the first work operation at the work position; e) searching with the robot arm for additional predrilled center holes for anchor nuts in a work area in the vicinity of the first predrilled center hole reachable by the robot arm; f) carrying out steps c-d at second work positions determined by the positions of the additional predrilled center holes and information in the memory; g) moving the robot in relation to the wing to new work areas and carrying out steps b-f for a predetermined number of work areas; h) mounting on the robot arm a second tool holder with tools for performing a second work operation; and i) executing the second work operation with the robot by following steps b-g, wherein the second work operation is substituted for the first work operation.