Method of assembling panelized aircraft fuselages

1. A method of assembling a panelized aircraft fuselage, the method comprising:

loading a keel structure on a cradle;

attaching stanchions to a floor grid;

positioning the floor grid and stanchions over the keel structure and attaching the stanchions to the keel structure;

obtaining a full fuselage contour including locating lower panels on the floor grid while using the cradle, the floor grid, and the keel structure to support the lower panels, and locating upper panels on the lower panels; and

fastening the lower panels to the keel structure and the upper panels,

wherein the fuselage is assembled upright from the keel structure without changing orientation of the fuselage.

2. The method of claim 1 , further comprising moving the cradle into a selected one of a plurality of cells on an assembly floor prior to loading the keel structure on the cradle.

3. The method of claim 2 , further comprising using a moveable gantry to move the keel and lower and upper panels across the assembly floor to the selected cell.

4. The method of claim 2 , further comprising plurality of robots for performing fuselage fastening operations into the selected cell, and using the robots to fasten the lower and upper panels.

5. The method of claim 4 , wherein the robots are programmed to use fuselage features to establish individual frames of reference, and perform subsequent movements and robotic operations with respect to those reference frames.

6. The method of claim 4 , further comprising using automated guide vehicles to move the robots and the cradle.

7. The method of claim 4 , wherein each robot includes an end effector for performing fuselage fastening operations, a positioning system for positioning the end effector, and a controller programmed to control the positioning system to move the end effector through a sequence of fastening locations and control the end effector to perform the fastening operations at those locations in the sequence.

8. The method of claim 4 , wherein the robots include tall robots for performing longitudinal splices and circumferential splices on upper fuselage portions, and short robots for performing circumferential splices on lower fuselage portions.

9. The method of claim 1 , wherein a first set and a second set of determinant assembly (DA) holes are used to locate the stanchions on the floor grid and the keel structure, respectively; wherein a third set of DA holes are used to locate the lower panels on the floor grid; and wherein a fourth set of DA holes are used to locate the upper panels with respect to the lower panels.

10. The method of claim 9 , wherein as the respective sets of DA holes are aligned, the floor grid is pinned to the stanchions, the stanchions are pinned to the keel structure, the lower panels are pinned to the floor grid and stiffened by the floor grid, and the upper panels are pinned to the lower panels to obtain the full fuselage contour.

11. The method of claim 10 , wherein the pinning of the floor grid to the stanchions, the stanchions to the keel structure, the lower panels to the floor grid, and the upper panels to the lower panels is performed manually.

12. The method of claim 9 , wherein all the sets of the DA holes are internal on the fuselage.

13. The method of claim 1 , wherein the upper and lower panels include skin and underlying stiffening substructure.

14. The method of claim 1 , wherein the keel structure is loaded in segments.

15. The method of claim 1 , wherein the lower panels are separated with a spreader bar; and the upper panels are located on the spreader bar.