Concepts for and analysis of a high accuracy and high capacity (HAHC) aerospace robot

Jody E. Muelaner, Zheng Wang, Paul G. Maropoulos

Research output: Contribution to journalArticlepeer-review

15 Citations (SciVal)


Case study work carried out within the aerospace sector has highlighted the requirement for highly accurate and high capacity robots in aerospace assembly; literature supports this observation. This paper presents the generic capabilities of such a system. These include the ability to rapidly locate itself within a large measurement volume using supplementary laser metrology systems, to carry out detailed inspection beyond the line of sight, and to accurately locate parts, drill holes and fettle interfaces. Concepts are presented for a standardized robot which would provide a flexible automation system able to carry out a full range of operations required in the assembly of large aerospace structures. Two possible solutions are detailed, one based on error mapping and one based on the physical isolation of encoders from structural loading using an exoskeleton approach.
Original languageEnglish
Pages (from-to)1393-1399
Number of pages7
JournalProceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture
Issue number8
Early online date17 Jul 2011
Publication statusPublished - Aug 2011


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