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The effectiveness of serial link articulated robots in aerospace drilling and fastening is largely limited by positional accuracy. Unguided production robotic systems are practically limited to +/-0.5mm, whereas the majority of aerospace applications call for tolerances in the +/-0.25mm range. The precision with which holes are placed on an aircraft structure is affected by two main criteria; the volumetric accuracy of the positioner, and how the system is affected when an external load is applied. Production use and testing of off-the-shelf robots has highlighted the major contributor to reduced stiffness and accuracy as being error ahead of the joint position feedback such as backlash and belt stretch. These factors affect the omni-directional repeatability, thus limiting accuracy, and also contribute to deflection of the tool point when process forces are applied.

This paper describes the principles of a new method to compensate for tool wear when drilling in complex materials such as Carbon Fibre Reinforced Plastics (CFRP), Carbon Fibre Reinforced Plastics / Titanium (CFRP/Ti) and Carbon Fibre Reinforced Plastics / Alloy (CFRP/AI) stacks. A reliable and repeatable hole quality is essential, especially in automatic drilling applications with robots or gantries. The method combines the unique feature to dynamically adjust the drilling diameter in very small steps in an Orbital drilling End-effector and a new type of software algorithm to predict and compensate for the tool wear in different materials. With this method a large number of holes can be drilled without changing the cutting tool, and a Cpk value of more than 2,5 can be achieved.

Manual drilling and Lockbolt installation in carbon fiber structures is a labor intensive process. To reduce man hour requirements while concurrently improving throughput and process quality levels BROETJE-Automation developed a gantry positioning system with high performance multi-function end effectors for this application. This paper presents a unique solution featuring fully automated drilling and Lockbolt installation (inclusive of automated collar installation) for the vertical tail plane (vertical stabilizer) of large commercial aircraft. A flexible and reconfigurable assembly jig facilitates high access of the end effectors and increases the equipment efficiency. The described system fulfils the demand for affordable yet flexible precision manufacturing with the capacity to handle different aircraft model panels within the work envelope.

Dynamic and quasi-static axial cutting of circular AA6061-T6 extrusions with variable instantaneous wall thickness in the axial direction was completed to investigate the capability of controlling the load/displacement responses of the extrusions. Circular specimens considered for this research had an original nominal wall thickness of 3.175 mm, an external diameter of 50.8 mm, and a tube length of 300 mm. Variations of the wall thickness were completed by material removal of the extrusions using a CNC machine. Specially designed cutters having a block height of 20 mm, a blade tip width of 1.0 mm and a blade shoulder width of 3.0 mm were employed to generate the axial cutting deformation mode. Either one or two cutters were selected to initiate a single or dual cutting deformation. A curved deflector with a profile radius of 50.8 mm was used to flare the cut petalled sidewalk and facilitate the cutting system.

The general manufacturing objective during the fabrication of automotive components, particularly through machining, can be stated as the striving to achieve predefined product quality characteristics within equipment, cost and time constraints. The current state of the economy and the consequent market pressure has forced vehicle manufacturers to simultaneously reduce operating expenses along with further improving product quality. This paper examines the achievability of surface roughness specifications within efforts to reduce automotive component manufacture cycle time, particularly by changing cutting feeds. First, the background and attractiveness of aluminum as a lightweight automotive material is discussed. Following this, the methodologies employed for the prediction of surface roughness in machining are presented. The factors affecting surface roughness as well as practical techniques for its improvement through optimizing machining parameters are discussed next.

This paper proposes a rolling machine that forms fine corrugated section patterns for thin sheets. A prototype of the machine was made and the performance of the machine was tested. As compared with press forming, rolling has the advantages of the high forming limit, the low forming reaction force, the easy control of the thin sheet's curve and high productivity. We confirmed these four advantages by using finite element analyses and the prototype rolling machine. Stainless steel sheets and titanium sheets, which were one of the materials with a low forming limit, were used. Firstly, the rolling showed a 1.3-times higher forming limit than the press forming in the case that a fine corrugated section pattern was formed in a stainless steel sheet of 22-mm square sizes. Secondly, the forming reaction force of the rolling was about one-twentieth of the press forming without coining, and the experimental results agreed with the finite element simulation.

Quasi-static axial cutting of AA6061-T6 and T4 round extrusions were completed using a specially designed cutter with multiple blades. The round specimens had a length of 200 mm, a nominal outer diameter of 50.8 mm, and a wall thickness of 3.175 mm or 1.587 mm. Four different cutters, constructed from heat-treated 4140 steel, having 3, 4, 5 and 6 blades on each cutter with a nominal tip width of 1.0 mm were used to penetrate through the round extrusions. A clean cutting mode was observed for the AA6061-T6 and T4 extrusions with wall thickness of 3.175 mm with an almost constant steady state cutting force. A braided cutting mode was observed for extrusions with both tempers with wall thickness of 1.587 mm, which resulted in a slightly oscillating steady state cutting force. For all extrusions with a wall thickness of 3.175 mm, the steady state cutting force increased with an increase in the number of cutter blades.

Serial link articulated robots applied in aerospace assembly have largely been limited in scope by deficiencies in positional accuracy. The majority of aerospace applications require tolerances of +/−0.25mm or less which have historically been far beyond reach of the conventional off-the-shelf robot. The recent development of the accurate robot technology represents a paradigm shift for the use of articulated robotics in airframe assembly. With the addition of secondary feedback, high-order kinematic model, and a fully integrated conventional CNC control, robotic technology can now compete on a performance level with customized high precision motion platforms. As a result, the articulated arm can be applied to a much broader range of assembly applications that were once limited to custom machines, including one-up assembly, two-sided drilling and fastening, material removal, and automated fiber placement.

Once limited by insufficient accuracy, the off-the-shelf industrial robot has been enhanced via the integration of secondary encoders at the output of each of its axes. This in turn with a solid mechanical platform and enhanced kinematic model enable on-part accuracies of less than +/−0.25mm. Continued development of this enabling technology has been demonstrated on representative surfaces of an aircraft fuselage. Positional accuracy and process capability was validated in multiple orientations both in upper surface (spindle down) and lower surface (spindle up) configurations. A second opposing accurate robotic drilling system and full-scale fuselage mockup were integrated to simulate doubled throughput and to demonstrate the feasibility of maintaining high on-part accuracy with a dual spindle cell.

As aircraft programs currently ramp up, productivity of assembly processes needs to be improved while keeping quality, reliability and manufacturing cost requirements. Efficiency of the drilling process still remains an issue particularly in the case of CFRP/metal stacks: hot and long metallic chips are difficult to remove and often damage the surface of CFRP holes. Low frequency axial vibration drilling has been proposed to solve this issue. This innovative drilling process allows breaking up the metallic chips in such a way that jamming is avoided. This paper presents a case of CFRP/Ti6Al4V drilling on a CNC machine where productivity must be increased. A comparison is made between the current regular process and the MITIS drilling process. First the analysis and comparison method is presented. The current process is analyzed and its limits are highlighted. Then the vibration process is implemented and its performances are studied.

The use of composite materials and composite stackups (CO-Ti or CO-Al) in aerospace and automotive applications has been and will continue to grow at a very high rate due to the high strength and low weight of the materials. One key problem manufacturers have using this material is the ability to efficiently drill holes through the layers to install fasteners and other components. This is especially true in stackups of CFRP and titanium due to the desire of drilling dry for the CFRP layer and the need for cooling when drilling the high strength Ti layer. By using CO2 through tool cooling, it is possible to protect both layers. Through work supported by the National Science Foundation (NSF) and Department of Energy (DOE) it is shown that CO2 through tool cooling productivity can be significantly increased while maintaining required hole tolerances in both the composite and Ti layers. Improvements in tool life have been demonstrated when compared to either emulsion or dry drilling.

In today's aircraft assembly process several new features make drilling operations very challenging according to production requirements. Parts are made of thin or thick multi-material stacks with a large scope to cover and complex assembly sequences. In addition, the current ramp-up in aircraft programs involves to improve productivity while keeping process quality and reliability. In this context robotic solution meets perfectly all these requirements as it is flexible, reconfigurable, fast and agile. Among the possible end-effectors, the Barrel Multi-Function End Effector (BMFEE) appears to be the most flexible solution to allow many different process configurations. The latest developments have been focused on the drilling equipment of this BMFEE. In fact the drilling process efficiency can be constantly improved especially in terms of reliability, quality and productivity. Therefore vibration-assisted drilling system has been integrated into the BMFEE drilling module.

Automated countersink measurement methods which require contact with the workpiece are susceptible to a loss of accuracy due to cutting debris and lube build-up. This paper demonstrates a non-contact method for countersink diameter measurement on CFRP which eliminates the need for periodic cleaning. Holes are scanned in process using a laser profilometer. Coordinates for points along the countersink edge are processed with a unique filtering algorithm providing a highly repeatable estimate for major and minor diameter.

A state of the art proprietary method for aluminum-to-aluminum joining in the automotive industry is Resistance Spot Welding. However, with spot welding (1) structural performance of the joint may be degraded through heat-affected zones created by the high temperature thermal joining process, (2) achieving the double-sided access necessary for the spot welding electrodes may limit design flexibility, and (3) variability with welds leads to production inconsistencies. Self-piercing rivets have been used before; however they require different rivet/die combinations depending on the material being joined, which adds to process complexity. In recent years the introductions of screw products that combine the technologies of friction drilling and thread forming have entered the market. These types of screw products do not have these access limitations as through-part connections are formed by one-sided access using a thermo-mechanical flow screwdriving process with minimal heat.

In an attempt to be more flexible and cost effective, Aerospace Manufacturers have increasingly chosen to adapt a manufacturing style which borrows heavily from the Automotive industry. To facilitate this change in methodologies a system for locating robots has been developed which utilizes cameras for both locating and guidance of a mobile platform for a robot with drilling and fastening end effector.

To reduce the weight of aero structures, composite materials are combined with metallic parts. These multilayer materials are one-shot drilled during the assembly process. During drilling, interactions appear between the different layers creating new quality issues. To improve machining efficiency, the portable semi-automated drilling units commonly used for such operations need to be upgraded. For this purpose, vibration systems have been recently introduced into drilling units. This article first considers the effect of the reciprocating axial movement on the quality of the machined surface, then focuses on the effect of the oscillation parameters (frequency, magnitude) on the cutting process (cutting forces, thermal load, etc.). Experimental and numerical results are used to find the method that produces the optimal vibration setting. This method is then applied to the case of drilling composite-metallic stack.

Electroimpact has recently produced a high-speed fuselage panel fastening machine which utilizes an all-electric, CNC-controlled squeeze process for rivet upset and bolt insertion. The machine is designed to fasten skin panels to stringers, shear ties, and other internal fuselage components. A high riveting rate of 15 rivets per minute was achieved on the first-generation E7000 machine. This rate includes drilling, insertion, and upset of headed fuselage rivets. The rivets are inserted by a roller screw-driven upper actuator, with rivet upset performed by a lower actuator driven by a high-load-capacity ball screw. The rivet upset process can be controlled using either position- or load-based feedback. The E7000 machine incorporates a number of systems to increase panel processing speed, improve final product quality, and minimize operator intervention.

Metal matrix composites (MMCs) exhibit superior characteristics such as low weight, high stiffness, and high mechanical and physical properties. Inheriting such an outstanding combination of specifications, they are nowadays considered as the promising materials in the aerospace and biomedical industries. However, the presence of high abrasive reinforcing particles in MMCs leads to severe manufacturing issues. Due to the tool-particle interactions which occur during the machining of MMCs, high tool wear and poor surface finish are induced and those elements are considered as the main drawbacks of cutting MMCs. In this study, dry turning experiments were conducted for two different inserts and coated carbide on a bar of titanium metal matrix composite (Ti-MMC). Semi-finishing machining is operated with cutting parameters based on the tool supplier's recommendations which were not fully optimized. The maximum flank wear length (VBBmax) was selected as the tool wear criteria.

There are various processes for finishing the friction surfaces of a brake disc, which affect the braking effectiveness of a vehicle in the early stages of use in some cases. To examine the interaction between the disc surface texture, rotational direction, and friction material, a series of experiments on a tribotester using small-scale specimens was conducted. In a previous paper (2013-01-2056), the results from the first series of experiments, which involved of thirty disc surface textures and a less aggressive non-asbestos organic (NAO) friction material in on-brake-drag conditions combining constant speed and normal-load, was reported. Disc surfaces were finished by the following finishing processes in two rotational directions: turning under four cutting conditions, roller burnishing after turning, turning with a wiper insert, and grinding with two stones. Contact-pressure dependency of friction and wear was confirmed.

The present paper aims at optimization of multiple quality characteristics (dimensional accuracy and surface roughness) in dry drilling Ti-6Al-4V using TiAlN-coated carbide tool while the controllable factors are spindle speed and feed rate. To do so, desirability methodology is used to explore optimum conditions for concurrent optimization of the addressed quality characteristics. Central composite design (CCD) is used for experimentation. In order to create reliable models describing the process behavior, response surface methodology (RSM) is used.