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Design of a semi-passive heavy-duty mobile robotic system for automated assembly inside an aircraft body

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2 Author(s)
Menon, M. ; Dept. of Mech. Eng., Massachusetts Inst. of Technol., Cambridge, MA ; Asada, H.

We present an initial design of a mobile robotic system for automated assembly inside an aircraft body. This system allows for the positioning control of a heavy duty end effector that is working on the far side of a thin wall at any orientation. It utilizes electromagnets to hold the end effector against the wall, as well as linear motor type actuation for locomotion. Initial testing on a prototype verifies the effectiveness of some of the chosen design parameters.

Published in:

Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on

Date of Conference:

22-26 Sept. 2008