Importance

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Abstract

A method and apparatus for positioning tooling with respect to a curvilinear workpiece which is curved in a first direction extending along a plane substantially perpendicular to the longitudinal axis of the workpiece and which is curved in a second direction extending along a plane substantially parallel to the workpiece longitudinal axis, the degree of curvature in the first direction being greater than the degree of curvature in the second direction. An illustrative example is automatic drilling, inserting and upsetting one or two piece fasteners such as exterior skin rivets on an airplane fuselage. There is provided a head for supporting a plurality of tools at spaced locations around a central axis wherein each of the tools has an operational axis disposed substantially parallel to the central axis and an arrangement for moving the head along paths of travel relative to the workpiece to reach various locations on the workpiece where the tools are to perform operations on the workpiece. The head is rotated about the central axis to selectively position each of the tools at a location where the tool operational axis is in alignment with a work axis of the workpiece so that the tool can operate on the workpiece. In order to achieve finite normalization of the tooling to the workpiece surface, the head is pivoted about a first axis substantially perpendicular to the central axis and substantially perpendicular to the longitudinal axis of the workpiece, and the head is pivoted about a second axis substantially perpendicular to the central axis and substantially parallel to the longitudinal axis of the workpiece.

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First Claim