Design, Analysis, and Prototyping of a Multifunctional Digital Twin-Enabled Aerospace Drilling End-Effector Deployable by a Collaborative Robot.

ABSTRACT: Drilling in aerospace one-up assembly demands high positional accuracy, strong clamping forces, and precise angular compensation to ensure quality in multi-layered stacks. Existing robotic solutions achieve these requirements but are costly, bulky, and unsuitable for flexible or collaborative environments. This work introduces the Advanced Collaborative Multifunctional End-Effector (ACME), a lightweight robotic drilling end-effector designed for integration with collaborative robots (cobots). ACME incorporates vacuum-assisted clamping capable of generating high forces, a passive self-normalization mechanism for angular alignment on double-curvature surfaces, and a compact 5-DoF positioning system for precise positioning and orientation. The system's kinematics and dynamics were modeled and

SUBMITTER: Kazemiesfahani M 

PROVIDER: S-EPMC12736575 | biostudies-literature | 2025 Dec

REPOSITORIES: biostudies-literature