| 1. |
|
|
| 2. |
- Herbertsson, Jonas, et al.
(författare)
-
Reconfigurable aircraft assembly : using industrial robots and new tooling to meet future production scenarios
- 2002
-
Ingår i: Proceedings of the 33rd ISR (International Symposium on Robotics).
-
Konferensbidrag (refereegranskat)abstract
- This paper presents the development of a new concept for aircraft airframe assembly tooling. While conventional aircraft assembly tooling relics on rigid steel frames this novel approach can be re-con figured for different products by the help of an accurate laser tracker guided industrial robot. Through this, aircraft manufacturers can better cope with an increased number of variants and smaller volumes which will increase the already high tooling costs. So far in the project a tooling concept has been conceptually designed and economically evaluated. The early technical results of the concepntal work indicate that the concept will work provided that enough mechanical stiffness can be obtained. The economical analysis shows that despite a much higher investment cost, a reconfigurable tool can be economical if it will replace 4-5 conventional tools. In certain future production scenarios reconfigurable tooling can play a very important role to keep the tooling costs down.
|
|
| 3. |
- Kihlman, Henrik, et al.
(författare)
-
6DOF metrology-integrated robot control
- 2003
-
Ingår i: SAE Technical Paper Series. - Montreal, QC, Canada : Society of Automotive Engineers. - 0148-7191.
-
Konferensbidrag (refereegranskat)abstract
- This paper describes ongoing research into Metrology-integrated robot control. The research is a part of an ongoing EU funded aircraft industry project – ADFAST*. The ADFAST project tries to implement the use of industrial robots in low-volume production, high-demand-on-accuracy operations and for dynamic force compensation. To detect and compensate deflection in industrial robots during a process, the robot uses a metrology system. The metrology system supervises the tool center point of the robot as it executes its processes. Leica has recently released a new metrology system; the LTD800, which measures distances with laser interferometry and can simultaneously measure orientation of targets, through photogrammetry, using an additional camera on top of the measuring unit. This paper will describe theory and results from tests performed on integrating the LTD800 with the robot.
|
|
| 4. |
- Kihlman, Henrik, 1973-
(författare)
-
Affordable reconfigurable assembly tooling : an aircraft development and manufacturing perspective
- 2002
-
Licentiatavhandling (övrigt vetenskapligt/konstnärligt)abstract
- Industry has changed in recent years. Increased globalization has led to a situation where few manufacturers build their own complete products "in-house". This situation is no different in the aerospace industry. In fact, aircraft manufacturers who build their complete aircraft in house are uncommon today. Aircraft manufacturers have, more and more, become specialists in limited areas of development and manufacturing. As specialists, aircraft manufacturers have focused on a narrow field of product categories. It would be a great advantage if these manufacturers had an assembly system that could produce several kinds of product categories using the same production equipment, instead of having one dedicated piece of equipment for each assembly.Today, the most common solution for aircraft assembly is Conventional Tooling (CT). CT is based on the same principles used during the early days of aircraft assembly tooling. The main principle of CT is that the fixture/tool is fabricated according to the shape of the workpiece, and that every assembly to be built requires its own unique tool. The problem with this type of tooling, however, is that developing one tool for each assembly is expensive and takes up a lot of storage space.The next generation of aircraft will be more advanced than their predecessors as world-class aircraft manufacturer employ the newest technologies in every new aircraft they manufacture. Building an advanced product like an aircraft involves continuous changes, both in the development of new aircraft and in the development of manufacturing technologies for the serial manufacture of aircraft. One of the main challenges for tomorrow' s aircraft industry will be to develop assembly systems that can manage changes within one product. Aircraft manufacturers would also benefit from using the same flexible assembly equipment for many product types, since product volumes in the aircraft industry are much smaller than in other industries.This thesis presents the theory of Conventional Tooling and its advantages and limitations, as well as new solutions. Given the advantages from both Conventional Tooling and the new tooling methods, together with general aircraft assembly requirements, a synthesizes has been made which has resulted in a new concept called Affordable Reconfigurable (Assembly) Tooling (ART). ART is based on using a robot to reconfigure the moveable fixturing units, called Dynamic Modules. The Dynamic Modules can also be detached from the Static Framework and attached again in a new configuration. Reconfiguration enables the ART concept to make changeovers between product types within a product family, and modularity enables the tool to be rebuilt between product families. The conclusion of this thesis is that if the enabling technologies work, i.e. if the technical solutions for ART are feasible, then the ART concept could represent a promising solution for manufacturers striving to meet future requirements for aircraft manufacturing in a turbulent globalized marketplace.
|
|
| 5. |
- Kihlman, Henrik, 1973-, et al.
(författare)
-
Affordable reconfigurable tooling
- 2002
-
Ingår i: SAE Technical Paper Series. - 400 Commonwealth Drive, Warrendale, PA, United States : Society of Automotive Engineers. - 0148-7191.
-
Konferensbidrag (refereegranskat)abstract
- Since the early days of aircraft assembly, welded steel structures called Conventional Tooling has been used for positioning and holding parts in place during assembly. This paper presents a new tooling concept called Affordable Reconfigurable Tooling, where a robot is not only used for drilling and riveting but also for reconfiguring the tool itself. The concept consists of modular units that can either be reconfigured between products of the same family of assembly or rebuilt between product families. The research is part of an ongoing EU-founded aircraft industry project - ADFAST*.
|
|
| 6. |
- Kihlman, Henrik, 1973-, et al.
(författare)
-
Low-cost automation for aircraft assembly
- 2004
-
Ingår i: SAE Technical Paper Series. - 400 Commonwealth Drive, Warrendale, PA, United States : SAE International. - 0148-7191.
-
Konferensbidrag (refereegranskat)abstract
- In this paper solution for low-cost automation of aircraft assembly is presented. The concept of this development is closely related to "Lean Automation", which in this case concerns the use of modern standard equipment such as standard robots, PC-computers and a newlydeveloped spatial sensor system for prec1s1on measurements of positions. The robot is used to perform reconfiguration of tooling modules that arepossible to be configured/reconfigured in six degrees of freedom. A prototype developed as the result of an EU-project called ADFAST* has been evaluated at Linköping University in Sweden. Technical functionality is reported where the robot manages to configure the flexible tooling modules to a total error bellow 50 μm. This paper presents the resu~s on the portion of the project addressing robot, metrology system and tooling.
|
|
| 7. |
- Kihlman, Henrik, et al.
(författare)
-
Metrology-integrated industrial robots : calibration, implementation and testing
- 2004
-
Ingår i: Proceedings of the 35th ISR (International Symposium on Robotics).
-
Konferensbidrag (övrigt vetenskapligt/konstnärligt)abstract
- This paper presents integration of a metrology system and an industrial robot. The metrology system consists of a laser tracker that measures the distance to a prism with high accuracy and a camera that through photogrammetry measures the orientation of a reflector. Both laser prism and camera reflector is integrated to a 6D-Reflector that is attached close to the TCP of an industrial robot. Tracker and robot is connected to a PC on a TCP/IP network. The PC takes measurements with the tracker, and thereby compensates the robot to reach high absolute accuracy in the robot positioning (+/-50 μm). The 6D-Reflector has multi-functionality and simplifies calibration procedures. This paper explains the architecture of the system and the methods for calibration.
|
|
| 8. |
- Kihlman, Henrik, 1973-, et al.
(författare)
-
Orbital drilling : implementation and evaluation
- 2004
-
Ingår i: SAE Technical Paper Series. - 400 Commonwealth Drive, Warrendale, PA, United States : SAE International. - 0148-7191.
-
Konferensbidrag (refereegranskat)abstract
- This paper deals with issues about Orbital drilling implementation and evaluation. The paper summarizes and includes the so far written papers about Orbital drilling.
|
|
| 9. |
- Kihlman, Henrik, 1973-
(författare)
-
Reconfigurable tooling for airframe assembly : a state-of-the-art review of the related literature and a short presentation of a new tooling concept
- 2001
-
Konferensbidrag (refereegranskat)abstract
- From the early days of aircraft manufacturing Dedicated Tooling has been used in the assembly process to ensure the attainment of assembly tolerances and product quality. Dedicated Tooling clamps the aircraft parts to be assembled into the jig to enable assembly by riveting. However, increased competition in the aircraft industry has driven the need to improve quality while reducing cost and in turn the need for innovative solutions to accomplish this.In this review paper the possibility of using metrology to increase the position accuracy in robotics will be examined. This is necessary to be able to use robotics in assembly of aircraft parts with the appropriate accuracy. Also, because of the small product volumes in the aircraft industry, the jigs must be flexible in order to assemble more than one structure in each jig. Solving these two problems could be the break through for starting to use robotics in aircraft assembly at a higher rate, and doing so in a cost-effective way.By then reviewing literature of today's flexible tooling technology in the aircraft industry, the conclusion indicates that there is a gap to fill in aircraft assembly tooling. Modular Tools is one solution where standard aluminium profiles are used to manufacture jigs with some degree of flexibility. Another way is pogo fixturing, which uses sticks to hold airframe parts together in the assembly process. The sticks can only be reconfigured in a limited range, and are not cost-effective. By using Affordable Reconfigurable Tooling, the jigs will not only have greater ability to be reconfigured, but by using robotics for the reconfiguration task as well as for drilling, riveting and other material handling tasks, the system will also be cost effective.
|
|
| 10. |
- Kihlman, Henrik, 1973-, et al.
(författare)
-
Robotic orbital drilling of structures for aerospace applications
- 2002
-
Ingår i: SAE Technical Paper Series. - Chester, United Kingdom : Society of Automotive Engineers. - 0148-7191.
-
Konferensbidrag (refereegranskat)abstract
- This paper describes ongoing research into orbital drilling using standard industrial robots. The research is a part of an ongoing EU funded aircraft industry project - ADFAST*. Generally it is difficult to use standard industrial robots to automate drilling in the aerospace industry. The stiffness of the standard robotic device is not sufficient to resist the deflections caused by the cutting forces from the drilling process, therefore it is difficult to achieve the tight hole tolerance requirements. Orbital drilling creates lower axial cutting forces compared to conventional drilling and therefore allows the use of low-cost standard industrial robots for drilling holes within the required hole tolerances. This paper presents results from a study where forces, moments and dislocations produced during orbital- and conventional drilling have been measured.
|
|
| 11. |
|
|
| 12. |
|
|
