A method and apparatus for performing an assembly operation. A tool may be macro-positioned relative to an exterior of a fuselage assembly. The tool may be micro-positioned relative to a particular location on the exterior of the fuselage assembly. An end effector is removably associated with an external robotic device associated with an external mobile platform. The tool is removably associated with the end effector. An assembly operation may be performed at the particular location on the panel using the tool.

A method and apparatus for performing an assembly operation. A tool may be macro-positioned relative to an exterior of a fuselage assembly. The tool may be micro-positioned relative to a particular location on the exterior of the fuselage assembly. An end effector is removably associated with an external robotic device associated with an external mobile platform. The tool is removably associated with the end effector. An assembly operation may be performed at the particular location on the panel using the tool.

Provided are self-aligning riveting tools and methods of utilizing such tools for installing rivets. A tool includes an aligning sleeve, which is slidably coupled to a first die. Furthermore, the tool includes a die holder, which is slidably coupled to a second die. During operation, the aligning sleeve is positioned over the rivet head thereby axially aligning the first die relative to the rivet, even before the first die contacts the rivet head. The second die contacts the rivet shank end thereby axially aligning the rivet relative to the second die and the die holder. Advancing the die holder toward the first die first clamps the rivet in the tool and then proceed with forming the rivet tail. The rivet remains coaxial with both dies during all of these operations.

A method and apparatus for positioning an end effector relative to a fuselage assembly. A configuration of the fuselage assembly may be determined. The end effector may be positioned relative to the fuselage assembly based on the configuration determined. A set of actual reference locations may be identified for a set of reference points on the fuselage assembly. The end effector may be positioned at an operation location based on the set of actual reference locations identified.

A method and apparatus for positioning an end effector relative to a fuselage assembly. A configuration of the fuselage assembly may be determined. The end effector may be positioned relative to the fuselage assembly based on the configuration determined. A set of actual reference locations may be identified for a set of reference points on the fuselage assembly. The end effector may be positioned at an operation location based on the set of actual reference locations identified.

A method and apparatus for installing a fastener. A reactive structural force is generated in a first direction during installation of the fastener. A new reactive structural force is generated in a second direction opposite to the first direction during the installation of the fastener.

A method and apparatus for performing an assembly operation. A tool may be macro-positioned relative to an exterior of a fuselage assembly. The tool may be micro-positioned relative to a particular location on the exterior of the fuselage assembly. An end effector is removably associated with an external robotic device associated with an external mobile platform. The tool is removably associated with the end effector. An assembly operation may be performed at the particular location on the panel using the tool.

A method and apparatus for performing an assembly operation. A tool may be macro-positioned relative to an exterior of a fuselage assembly. The tool may be micro-positioned relative to a particular location on the exterior of the fuselage assembly. An end effector is removably associated with an external robotic device associated with an external mobile platform. The tool is removably associated with the end effector. An assembly operation may be performed at the particular location on the panel using the tool.

A method and apparatus for distributing a number of utilities. The number of utilities may be coupled between a number of utility sources and a utility fixture. The number of utilities may be coupled between the utility fixture and a mobile system.

A method and apparatus for distributing a number of utilities. The number of utilities may be coupled between a number of utility sources and a utility fixture. The number of utilities may be coupled between the utility fixture and a mobile system.