Technical Paper
Swaging End Effector
2009-11-10
2009-01-3246
This paper presents an innovative, compact, autonomous and accurate solution for swaging aeronautical LGP collars on robots. Its rigid structure allows the application of clamping force that enables one-way assembly of aeronautical structures. Equipped with an advanced vision system combined with a multi-degree of freedom swaging nose, it is able to compensate robot absolute inaccuracy while the robot is clamped (2 mm positioning error between the two robots can therefore be compensated automatically). This concept used in a face to face configuration of two robots, has the advantage of not requiring perfect alignment of the 2 robots between them; only the drilling external robot must be precisely positioned in relative with the parts to assemble. With a form factor of 400×200×200 mm3 this innovative end-tool offers a great compacity that allows it to easily access to difficult internal areas such as cockpits interiors.