End effector for manufacturing operations in confined spaces
An end effector for confined space manufacturing operations and methods of use are presented. The end effector comprises a pair of kinematic machines connected in series, and an operational head connected to a first platform of a first kinematic machine of the pair of kinematic machines, the operational head configured to perform number of manufacturing operations on a structure.
1. An end effector for manufacturing operations comprising:
a first kinematic machine and a second kinematic machine connected in series, the first and second kinematic machines each includes a number of adjustable length structural members;
a head connected to a first platform of the first kinematic machine, the head configured to perform manufacturing operations on a structure; and
a number of fluid cartridges positioned within at least one of the first kinematic machine or the second kinematic machine.
2. The end effector of claim 1 , wherein the first and second kinematic machines comprise at least one hexapod.
3. The end effector of claim 1 further comprising:
a rotational joint between the head and the first platform of the first kinematic machine.
4. The end effector of claim 1 , wherein the head comprises:
a sealant applicator.
5. The end effector of claim 1 , wherein the head comprises:
a number of cameras.
6. The end effector of claim 5 , wherein the head comprises:
a splash shield configured to reduce debris contacting the number of cameras as the head performs the manufacturing operations on the structure.
7. The end effector of claim 1 , wherein the head comprises:
a number of lasers.
8. The end effector of claim 1 , wherein the first and second kinematic machines each comprise:
a respective platform;
a respective base; and
the number of adjustable length structural members movably connected to both the respective platform and the respective base.
9. The end effector of claim 8 , wherein the respective platform of each kinematic machine comprises an aperture.
10. The end effector of claim 1 , wherein one of the kinematic machines is connected to a robot.
11. An end effector for manufacturing operations, comprising:
a first kinematic machine and a second kinematic machine connected in series, the first and second kinematic machines each include a number of adjustable length structural members; and
a head including a sealant applicator connected to a first platform of the first kinematic machine, the head configured to perform number of manufacturing operations on a structure,
a number of fluid cartridges positioned within at least one of the first kinematic machine or the second kinematic machine; and
a rotational joint between the head and the first platform of the first kinematic machine.
12. The end effector of claim 11 , wherein the first and second kinematic machines comprise at least one hexapod.
13. The end effector of claim 11 , wherein the head comprises a number of cameras.
14. The end effector of claim 13 , wherein the cameras are directed away from the first and second kinematic machines.
15. The end effector of claim 11 , wherein the head comprises a splash shield configured to reduce debris contacting the number of cameras as the head performs the manufacturing operations on the structure.
16. The end effector of claim 11 , wherein the head comprises a number of lasers.
17. The end effector of claim 16 , wherein the number of lasers comprise proximity sensors.
18. The end effector of claim 11 , wherein the first and second kinematic machines each comprise:
a respective platform;
a respective base; and
the number of adjustable length structural members movably connected to both the respective platform and the respective base.
19. The end effector of claim 11 , wherein the respective platform of each kinematic machine comprises an aperture.
20. The end effector of claim 11 , wherein one of the kinematic machines is connected to a robot.