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In the aircraft design process there are the occasional bolted joints with opposing surfaces that are not parallel to each other. This can necessitate manufacturing to machine a spot face into the structural surfaces for the bolt head and nut to seat on. Typically this process is done manually by two workers with all process verification being done visually. Additionally, the nature of airplane structure often requires one worker to be inside a confined space to monitor the process. With this in mind, a tool was requested to reduce the number of workers required, remove workers from confined spaces and ensure a robust method for process validation. The critical technology that would have to be developed was a device that could fix itself into an existing hole, measure the surface of which the hole exited and then machine a spot face into that surface to a specific calculated depth. The device would only require a single operator to install and start the machine in a given hole.

Fully autonomous systems are seen as the ultimate solution to all manufacturing problems due to their consistent quality and ability to improve rates, but they also have one key disadvantage: Limited equipment versatility. This shortcoming becomes most apparent when trying to apply automation to aircraft final assembly. The variety of jobs is great and would necessitate the development of many unique solutions. Therefore a robotic system designed for one job on one aircraft version might be useless on the next version. Also there are many tight spaces and complex jobs where automation is just not practical, meaning that workers with portable tools will always have some presence in production. The modern smart portable tool as exemplified by the Novator PM Series orbital drill motor is capable of matching the quality and speed of a robotic system while still maintaining the ability to be applicable over a wide variety of jobs.

Parallel kinematic mechanisms (PKMs) offer advantages of high stiffness to mass ratios, greater potential for accuracy and repeatability, and lower cost when compared to traditional assembly machines. Because of this, there is a strong interest in using PKMs for aerospace assembly and joining operations. This paper looks at the calibration of a prototype Gantry TAU robot by extending the higher-order implicit loop calibration techniques developed for serial link mechanisms to parallel link mechanisms. The kinematic model is based on the geometric model proposed by Dressler et al., augmented with a cubic spline error model of the motion errors for each of the three translation actuators resulting in 185 parameters. Measurements are taken with a 6-DOF laser tracker, and the kinematic parameters are solved as the maximum likelihood parameter estimate.

This paper reports on the experimental study of carbide and polycrystalline diamond (PCD) drills used for drilling composite/titanium stacks. Materials systems used in this study were multi-directional carbon fiber in an epoxy matrix and titanium 6Al-4V. The drill materials included tungsten carbide (WC; 9%Co ultra fine grain) and polycrystalline diamond (PCD; bimodal grade). Torque and thrust force were measured during the drilling experiments. Tool wear of both drills was periodically examined during the drilling tests using various microscopic techniques such as optical and Scanning Electron Microscope (SEM). Effect of tool materials and process condition on hole quality parameters such as hole diameter, surface roughness, and titanium burrs, were examined. Dissimilar mechanical and thermal properties of the stacks affected the tool life and resulted in the decreased hole quality for both cutting tool materials, although to a differing degree.