Smart Human-Robot-Collaboration in Mechanical Joining Processes

This publication illustrates the development of an innovative application of human-robot-collaboration in the final aircraft assembly. The focused application is built on a new tool for solid self-piercing riveting which - if handled manually - would result in high physical load on employees. The presented solution is based on a hand guided collaborative lightweight robot combining different methods of force control. Thus the tool can be moved quickly and precisely to reach all joining positions avoiding physical effort for the operator. Special focus was given on the integrated handling of the entire system, i.e. the tool and the robot. The interlinked sensory of all subsystems involved in the joining process ensures a smart control of the robot system. A remote control system using mobile devices was implemented to increase the usability and to foster the employees' acceptance of the solution. In addition it enables significantly improved process documentation, reproducibility and transparency in the manual mechanical joining processes.