Research Papers

Tool Accessibility Analysis for Robotic Drilling and Fastening

[+] Author and Article Information
David Dakdouk

Department of Aerospace Engineering,
Ryerson University,
Toronto, ON M5B 2K3, Canada
e-mail: david.dakdouk@ryerson.ca

Fengfeng Xi

Department of Aerospace Engineering,
Ryerson University,
Toronto, ON M5B 2K3, Canada
e-mail: fengxi@ryerson.ca

Manuscript received December 7, 2016; final manuscript received April 24, 2017; published online July 17, 2017. Assoc. Editor: Laine Mears.

J. Manuf. Sci. Eng 139(9), 091012 (Jul 17, 2017) (8 pages) Paper No: MANU-16-1628; doi: 10.1115/1.4036639 History: Received December 07, 2016; Revised April 24, 2017

Robotic applications in aerospace manufacturing and aircraft assembly today are limited. This is because most of the aircraft parts are relatively crowded and have complex shapes that make tasks like robotic drilling and fastening more challenging. These challenges include tool accessibility, path, and motion planning. In this paper, a process methodology was developed to overcome the tool accessibility challenges facing robotic drilling and riveting for aircraft parts that are located in crowded work environments. First, the tool accessibility was analyzed based on the global accessibility area (GAA) and the global accessibility volume (GAV) to determine the accessible boundaries for parts with zero, one, and two surfaces curvatures. Then, the path for the tool was generated while taking in consideration the approachability planning. This approach generates a number of intermediate points that enable the tool to maneuver around obstacles to reach the final target points if they are accessible. Last, a software application was developed to simulate the drilling and riveting tasks, and to validate the proposed process. The results of the simulation confirmed the proposed methodology and provided a numerical feedback describing the level of crowdedness of the work environment. The accessibility percentage can then be used by the design team to reduce the design complexity and increase the level of tool accessibility.

Copyright © 2017 by ASME
Your Session has timed out. Please sign back in to continue.


Dakdouk, D. , 2012, “ Design of Support Systems for Percussive Robotic Riveting,” Undergraduate thesis, Ryerson University, Toronto, ON, Canada. http://catalogue.library.ryerson.ca/record=b2270217
Xi, F.-F. , Yu, L. , and Tu, X.-W. , 2013, “ Framework on Robotic Percussive Riveting for Aircraft Assembly Automation,” Adv. Manuf., 1(2), pp. 112–122. [CrossRef]
Stansbury, E. , Bigoney, B. , and Allen, R. , 2012, “ E7000 High-Speed CNC Fuselage Riveting Cell,” SAE Int. J. Mater. Manuf., 7(1), pp. 37–44. [CrossRef]
Gray, T. , Orf, D. , and Adams, G. , 2013, “ Mobile Automated Robotic Drilling, Inspection, and Fastening,” SAE Paper No. 2013-01-2338.
Lozano-Péres, T. , 1983, “ Spatial Planning: A Configuration Space Approach,” IEEE Trans. Comput., C 32(2), pp. 108–120. [CrossRef]
Chen, L.-L. , and Woo, T. C. , 1992, “ Computational Geometry on the Sphere With Application to Automated Machining,” ASME J. Mech. Des., 114(2), pp. 288–295. [CrossRef]
Spyridi, A. J. , and Requicha, A. A. G. , 1990, “ Accessibility Analysis for the Automatic Inspection of Mechanical Parts by Coordinate Measuring Machines,” IEEE International Conference on Robotics and Automation (ICRA), Cincinnati, OH, May 13–18, Vol. 2, pp. 1284–1289.
Dhaliwal, S. , Gupta, S. , Huang, J. , and Priyadarshi, A. , 2003, “ Algorithms for Computing Global Accessibility Cones,” ASME J. Comput. Inf. Sci. Eng., 3(3), pp. 200–209. [CrossRef]
Suthunyatanakit, K. , Bohez, E. L. J. , and Annanon, K. , 2009, “ A New Global Accessibility Algorithm for a Polyhedral Model With Convex Polygonal Facets,” Comput. Aided Des., 41(12), pp. 1020–1033. [CrossRef]
Peng, Q. , and Chung, C. , 2006, “ A Novel Approach to the Geometric Feasibility Analysis for Fast Assembly Tool Reasoning,” Int. J. Adv. Manuf. Technol., 31(1), pp. 125–134.
Dakdouk, D. , 2016, “ Tool Accessibility With Path and Motion Planning for Robotic Drilling and Riveting,” M.A.Sc. thesis, Ryerson University, Toronto, ON, Canada.
Henrion, R. , Homberg, D. , and Landry, C. , 2012, “ Path Planning and Collision Avoidance for Robots,” Numer. Algebra Control Optim., 2(3), pp. 437–463. [CrossRef]
Lu, Y. , Ding, Y. , and Zhu, L. , 2016, “ Smooth Tool Path Optimization for Flank Milling Based on the Gradient-Based Differential Evolution Method,” ASME J. Manuf. Sci. Eng., 138(8), p. 081009 .
Thompson, B. , and Yoon, H. , 2015, “ Velocity-Regulated Path Planning Algorithm for Aerosol Printing Systems,” ASME J. Manuf. Sci. Eng., 137(3), p. 031020.


Grahic Jump Location
Fig. 1

Accessibility representation in 3D space

Grahic Jump Location
Fig. 5

Close view of the stringer on the side projection of a curved surface

Grahic Jump Location
Fig. 2

Accessibility representation in 2D plane

Grahic Jump Location
Fig. 3

Global accessibility area representation

Grahic Jump Location
Fig. 4

Front and side projections of a curved surface

Grahic Jump Location
Fig. 7

Predicted path maneuver for the tool around the obstacle

Grahic Jump Location
Fig. 8

Orders for target approachability planning

Grahic Jump Location
Fig. 9

A test case with skin panel section of a wing using robotstudio

Grahic Jump Location
Fig. 10

Simulation flowchart for Riveting Planner©

Grahic Jump Location
Fig. 11

Accessibility check in 2D

Grahic Jump Location
Fig. 12

Accessibility check in 3D

Grahic Jump Location
Fig. 13

View of the generated path in robotstudio using the Riveting Planner©

Grahic Jump Location
Fig. 6

GAA with boundary limits



Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In