Systems and methods for automated manufacture are provided. User input is received by way of user systems indicating nominal data measurements for an article. Automated material handling machines move parts within view of a machine vision system which performs an initial scan to identify features of said parts. Locations of areas for joining are determined by comparing the identified features to the nominal data measurements and the automated material handling machines move the parts into positions in accordance with the nominal data measurements to form the article. The automated material joining machines join the parts at said areas specified in said user input to form the article.

An approach to positioning one or more robotic arms in an assembly system may be described herein. For example, a system for robotic assembly may include a first robot, a second robot, and a control unit. The control unit may be configured to receive a first target location proximal to a second target location. The locations may indicate where the robots are to position the features. The control unit may be configured to calculate a first calculated location of the first feature of the first subcomponent, measure a first measured location of the first feature of the first subcomponent, determine a first transformation matrix between the first calculated location and the first measured location, reposition the first feature of the first subcomponent to the first target location using the first robot, the repositioning based on the first transformation matrix.

A method of assembling a plurality of subcomponents to form a finished component comprises gripping a first subcomponent with a first end-of-arm tool, wherein the first end-of-arm tool is attached to a first robot arm and grasping a second subcomponent with a second end-of-arm tool, wherein the second end-of-arm tool is attached to a second robot arm. Moving the first and second end-of-arm tools to position the first subcomponent relative to the second subcomponent in a pre-assembly position and then moving the first and second end-of-arm tools to engage interface surfaces of the first and second subcomponents. Forming a joint between the first subcomponent and the second subcomponent with a joining tool attached to a joining robot arm to thereby assemble the finished component.

A controller of the robot apparatus performs approaching control for making a second workpiece approach a first workpiece and position adjustment control for adjusting a position of the second workpiece with respect to a position of the first workpiece. The approaching control includes control for calculating a movement direction and a movement amount of a position of the robot based on an image captured by a first camera, and making the second workpiece approach the first workpiece. The position adjustment control includes control for calculating a movement direction and a movement amount of a position of the robot based on an image captured by the first camera and an image captured by the second camera, and precisely adjusting a position of the first workpiece with respect to the second workpiece.

An automated assembly station includes a mobile platform for holding a first workpiece, a robot having a moveable arm, and a controller. The moveable arm includes a load cell and a gripper that is adapted to grasp a second workpiece. The robot is operable to use the moveable arm and gripper to insert the second workpiece into a locked position on a mating part of the first workpiece. The load cell is operable to measure an amount of insertion force used to insert the second workpiece into the locked position. The controller is configured to record the insertion force and trigger an alarm in response to the insertion force exceeding a predesignated threshold insertion force.

A method of assembling a plurality of subcomponents to form a finished component comprises gripping a first subcomponent with a first end-of-arm tool, wherein the first end-of-arm tool is attached to a first robot arm and grasping a second subcomponent with a second end-of-arm tool, wherein the second end-of-arm tool is attached to a second robot arm. Moving the first and second end-of-arm tools to position the first subcomponent relative to the second subcomponent in a pre-assembly position and then moving the first and second end-of-arm tools to engage interface surfaces of the first and second subcomponents. Forming a joint between the first subcomponent and the second subcomponent with a joining tool attached to a joining robot arm to thereby assemble the finished component.

A component assembly system comprises a first robot arm having a first end-of-arm tool mounted thereon and adapted to grasp a first subcomponent; a second robot arm having a second end of arm tool mounted thereon and adapted to grasp a second subcomponent. A system controller is adapted to control the first and second robot arms and first and second end-of-arm tools to position the first and second subcomponents relative to one another. A first interlocking mechanism is mounted onto the first end-of-arm tool and a second interlocking mechanism is mounted onto the second end-of-arm tool, wherein the first and second interlocking mechanisms engage one another and lock the first end-of-arm tool to the second end-of arm tool, thereby locking the first and second subcomponents into an initial position relative to one another.

Methods and apparatuses for performing automated operations using a high-density robotic cell. An apparatus comprises a first plurality of robotic devices; a second plurality of robotic devices; and a control system. Each of the second plurality of robotic devices is coupled to a single function end effector. The control system controls the second plurality of robotic devices to concurrently perform tasks at a plurality of locations on an assembly, while the first plurality of robotic devices independently maintain a clamp-up at each of the plurality of locations.

Methods and apparatuses for performing automated operations, such as installing fasteners at a plurality of locations along a joint, using a high-density robotic cell. A plurality of different tasks for a fastener installation operation is performed concurrently at selected locations of the plurality of locations using a plurality of single function end effectors positioned relative to the selected locations in a high-density setup.

An approach to positioning one or more robotic arms in an assembly system may be described herein. For example, a system for robotic assembly may include a first robot, a second robot, and a control unit. The control unit may be configured to receive a first target location proximal to a second target location. The locations may indicate where the robots are to position the features. The control unit may be configured to calculate a first calculated location of the first feature of the first subcomponent, measure a first measured location of the first feature of the first subcomponent, determine a first transformation matrix between the first calculated location and the first measured location, reposition the first feature of the first subcomponent to the first target location using the first robot, the repositioning based on the first transformation matrix.