CA2895739A1

CA2895739A1 - Wheel mounting system

Info

Publication number: CA2895739A1
Application number: CA2895739A
Authority: CA
Inventors: Harinder Oberoi; Richard Griffith Reese, Iv; Quang T. Do; Gregory Gudzinski; Jeffrey Lawrence Miller; Michael J. Kozak
Original assignee: Boeing Co
Current assignee: Boeing Co
Priority date: 2014-07-09
Filing date: 2015-06-25
Publication date: 2016-01-09
Anticipated expiration: 2035-06-25
Also published as: CA2895739C

Abstract

A method and apparatus for installing a wheel arm assembly for an autonomous vehicle. The wheel arm assembly may be inserted into a base of the autonomous vehicle from the exterior of the base. A number of fasteners may be installed at the exterior of the base to attach the wheel arm assembly to the base of the autonomous vehicle.

Description

WHEEL MOUNTING SYSTEM
BACKGROUND INFORMATION
1. Field:
The present disclosure relates generally to vehicles and, in particular, to installation and removal of wheel arm assemblies from vehicles used in manufacturing environments. Still more particularly, the disclosure relates to a method and apparatus for installing and removing wheel arm assemblies for vehicles used in manufacturing environments.

2. Background:
Building a fuselage may include assembling skin panels and a support structure for the fuselage. The skin panels and support structure may be joined together to form a fuselage assembly. For example, without limitation, the skin panels may have support members, such as frames and stringers, attached to the surface of the skin panels that will face the interior of the fuselage assembly. These support members may be used to form the support structure for the fuselage assembly. The skin panels may be positioned relative to each other and the support members may be tied together to form this support structure.
Fastening operations may then be performed to join the skin panels and the support members together to form the fuselage assembly. These fastening operations may include, for example, riveting operations, interference-fit bolting operations, other types of attachment operations, or some combination thereof.
The fuselage assembly may need to be assembled in a manner that meets outer mold line (OML) requirements and inner mold line (IML) requirements for the fuselage assembly.

Some currently available methods for building a fuselage assembly may be more labor-intensive, time-consuming, ergonomically challenging, or expensive than desired. Further, some current assembly methods used to build fuselages may not allow fuselages to be built in the desired assembly facilities or factories at desired assembly rates or desired assembly costs.
With some currently available methods of assembly, performing maintenance or repair on vehicles used during assembly in a factory may require that the vehicles be moved to some location outside of the factory. For example, performing maintenance or a repair on a wheel arm assembly of a vehicle may require that the vehicle be moved to some other location for maintenance, a base of the vehicle be assembled, or the vehicle be taken out of service during the maintenance or repair.
Consequently, the time, cost, and effort of performing this type of maintenance or repair may be greater than desired.
In some cases, the current assembly methods and systems used to build fuselages may require that these fuselages be built in facilities or factories specifically designated and permanently configured for building fuselages.
These current assembly methods and systems may be unable to accommodate different types and shapes of fuselages. For example, without limitation, large and heavy equipment needed for building fuselages may be permanently affixed to a factory and configured for use solely with fuselages of a specific type. Therefore, it would be desirable to have a method and apparatus that take into account at least some of the issues discussed above, as well as other possible issues.
SUMMARY
In one illustrative embodiment, an apparatus may comprise a retaining structure associated with a base of a vehicle and a wheel arm assembly coupleable to the retaining structure at an exterior of the base.
In another illustrative embodiment, an apparatus may comprise a wheel arm assembly that is removably associated with a retaining structure in an autonomous vehicle at an externally-facing end of the retaining structure.

In another illustrative embodiment, an autonomous vehicle may comprise a base, a plurality of retaining structures associated with the base, and a plurality of wheel systems coupled to the plurality of retaining structures. A wheel system in the plurality of wheel systems may comprise a wheel arm assembly, a hub assembly associated with the wheel arm of the wheel arm assembly, and an omnidirectional wheel associated with the hub assembly. The wheel arm assembly may comprise a retainer bushing having a first end and a second end. The retainer bushing may be attached to a first end of a retaining structure in the plurality of retaining structures by a number of fasteners. The wheel arm assembly may further comprise a wheel arm partially overlapped by the retainer bushing and a plate that is attached to the wheel arm at the second end of the retainer bushing such that the plate at least partially overlaps the second end of the retainer bushing without overlapping a second end of the retaining structure such that an entirety of the wheel arm assembly is removable from the retaining structure when the number of fasteners attaching the retainer bushing to the retaining structure is removed.
In another illustrative embodiment, an autonomous vehicle may comprise a base and a plurality of retaining structures associated with the base. A
retaining structure in the plurality of retaining structures may comprise a first end, a second end, a channel that extends from the first end to the second end, and a number of openings at the first end configured to receive a number of fasteners for attaching a retainer bushing of the wheel arm assembly to the retaining structure. The channel may be configured to receive a wheel arm assembly.
In another illustrative embodiment, a method for installing a wheel arm assembly for an autonomous vehicle may be presented. The wheel arm assembly may be inserted into a base of the autonomous vehicle from the exterior of the base.
A number of fasteners may be installed at the exterior of the base to attach the wheel arm assembly to the base of the autonomous vehicle.
In yet another illustrative embodiment, a method for installing a wheel arm assembly in a vehicle may be presented. The wheel arm assembly may be inserted into a retaining structure associated with a base of the vehicle. A number of

3 fasteners may be inserted to attach the wheel arm assembly to the retaining structure at an exterior of the vehicle.
In yet another illustrative embodiment, a method for removing a wheel arm assembly from a vehicle may be presented. A number of fasteners may be removed that attach the wheel arm assembly to a base of the vehicle from an exterior of the base of the vehicle. The wheel arm assembly may be removed from the base of the vehicle.
In yet another illustrative embodiment, a method for assembling and installing a wheel arm assembly for an autonomous vehicle may be presented. A sliding bushing may be inserted into a retainer bushing at a first end of the retainer bushing to press-fit the sliding bushing within the retainer bushing. A bearing may be positioned at the first end of the retainer bushing. A wheel arm may be inserted into the sliding bushing at the first end of the retainer bushing such that a first portion of the wheel arm is located within the sliding bushing and a second portion of the wheel arm extends past the first end of the retainer bushing and such that the bearing contacts the wheel arm, the sliding bushing, and the first end of the retainer bushing.
A plate may be attached to the wheel arm at a second end of the retainer bushing using a set of fasteners such that the plate at least partially overlaps the second end of the retainer bushing. The sliding bushing, the retainer bushing, the wheel arm, and the plate form the wheel arm assembly. The wheel arm assembly may be inserted into a retaining structure associated with a base of the autonomous vehicle in a direction from a first end of the retaining structure to a second end of the retaining structure. A number of fasteners may be installed to attach the first end of the retainer bushing of the wheel arm assembly to the first end of the retaining structure.
The features and functions can be achieved independently in various embodiments of the present disclosure or may be combined in yet other embodiments in which further details can be seen with reference to the following description and drawings.

4 BRIEF DESCRIPTION OF THE DRAWINGS
The novel features believed characteristic of the illustrative embodiments are set forth in the appended claims. The illustrative embodiments, however, as well as a preferred mode of use, further objectives and features thereof, will best be understood by reference to the following detailed description of an illustrative embodiment of the present disclosure when read in conjunction with the accompanying drawings, wherein:
Figure 1 is an illustration of a manufacturing environment in the form of a block diagram in accordance with an illustrative embodiment;
Figure 2 is an illustration of a fuselage assembly in the form of a block diagram in accordance with an illustrative embodiment;
Figure 3 is an illustration of a plurality of mobile systems of a flexible manufacturing system within a manufacturing environment in the form of a block diagram in accordance with an illustrative embodiment;
Figure 4 is an illustration a plurality of mobile plafforms in the form of a block diagram in accordance with an illustrative embodiment;
Figure 5 is an illustration of a flow of a number of utilities across a distributed utility network in the form of a block diagram in accordance with an illustrative embodiment;
Figure 6 is an illustration of a vehicle in the form of a block diagram in accordance with an illustrative embodiment;
Figure 7 is an illustration of an isometric view of a manufacturing environment in accordance with an illustrative embodiment;
Figure 8 is an illustration of a first tower coupled to a utility fixture in accordance with an illustrative embodiment;
Figure 9 is an illustration of an isometric view of a cradle system in accordance with an illustrative embodiment;

5 Figure 10 is an illustration of an isometric view of an assembly fixture formed using a cradle system and coupled to a first tower in accordance with an illustrative embodiment;
Figure 11 is an illustration of an isometric view of one stage in the assembly process for building a fuselage assembly that is being supported by an assembly fixture in accordance with an illustrative embodiment;
Figure 12 is an illustration of an isometric view of another stage in the assembly process for building a fuselage assembly in accordance with an illustrative embodiment;
Figure 13 is an illustration of an isometric view of another stage in the assembly process for building a fuselage assembly being supported by an assembly fixture in accordance with an illustrative embodiment;
Figure 14 is an illustration of an isometric view of another stage in the assembly process for building a fuselage assembly in accordance with an illustrative embodiment;
Figure 15 is an illustration of an isometric view of a second tower coupled to a utility fixture and an assembly fixture supporting a fuselage assembly in accordance with an illustrative embodiment;
Figure 16 is an illustration of an isometric cutaway view of a plurality of mobile platforms performing fastening processes within an interior of a fuselage assembly in accordance with an illustrative embodiment;
Figure 17 is an illustration of a cross-sectional view of a flexible manufacturing system performing operations on a fuselage assembly in accordance with an illustrative embodiment;
Figure 18 is an illustration of an isometric view of a fully built fuselage assembly in accordance with an illustrative embodiment;
Figure 19 is an illustration of an isometric view of fuselage assemblies being built within a manufacturing environment in accordance with an illustrative embodiment;

6 Figure 20 is an illustration of an isometric view of a portion of an autonomous vehicle in accordance with an illustrative embodiment;
Figure 21 is an illustration of an enlarged isometric view of a wheel system without an omnidirectional wheel in accordance with an illustrative embodiment;
Figure 22 is an illustration of a front view of a wheel system in accordance with an illustrative embodiment;
Figure 23 is an illustration of a cross-sectional view of a wheel system coupled to a base of a vehicle in accordance with an illustrative embodiment;
Figure 24 is an illustration of a process for installing a wheel arm assembly for a vehicle in the form of flowchart in accordance with an illustrative embodiment;
Figure 25 is an illustration of a process for removing a wheel arm assembly from a vehicle in the form of flowchart in accordance with an illustrative embodiment;
Figure 26 is an illustration of a process for assembling and installing a wheel arm assembly for an autonomous vehicle in the form of flowchart in accordance with an illustrative embodiment;
Figure 27 is an illustration of an aircraft manufacturing and service method in the form of a block diagram in accordance with an illustrative embodiment; and Figure 28 is an illustration of an aircraft in the form of a block diagram in which an illustrative embodiment may be implemented.
DETAILED DESCRIPTION
The illustrative embodiments recognize and take into account different considerations. For example, the illustrative embodiments recognize and take into account that it may be desirable to automate the process of building a fuselage assembly for an aircraft. Automating the process of building a fuselage assembly for an aircraft may improve build efficiency, improve build quality, and reduce costs associated with building the fuselage assembly. The illustrative embodiments also recognize and take into account that automating the process of building a fuselage assembly may improve the accuracy and precision with which assembly operations

7 are performed, thereby ensuring improved compliance with outer mold line (OML) requirements and inner mold line (IML) requirements for the fuselage assembly.

Further, the illustrative embodiments recognize and take into account that automating the process used to build a fuselage assembly for an aircraft may significantly reduce the amount of time needed for the build cycle. For example, without limitation, automating fastening operations may reduce and, in some cases, eliminate, the need for human operators to perform these fastening operations as well as other types of assembly operations.
Further, this type of automation of the process for building a fuselage assembly for an aircraft may be less labor-intensive, time-consuming, ergonomically challenging, and expensive than performing this process primarily manually.
Reduced manual labor may have a desired benefit for the human laborer.
Additionally, automating the fuselage assembly process may allow fuselage assemblies to be built in desired assembly facilities and factories at desired assembly rates and desired assembly costs.
The illustrative embodiments also recognize and take into account that it may be desirable to use equipment that can be autonomously driven and operated to automate the process of building a fuselage assembly. In particular, it may be desirable to have an autonomous flexible manufacturing system comprised of mobile systems that may be autonomously driven across a factory floor, autonomously positioned relative to the factory floor as needed for building the fuselage assembly, autonomously operated to build the fuselage assembly, and then autonomously driven away when building of the fuselage assembly has been completed.
As used herein, performing any operation, action, or step autonomously may mean performing that operation substantially without any human input. For example, without limitation, a platform that may be autonomously driven is a platform that may be driven substantially independently of any human input. In this manner, an autonomously drivable platform may be a platform that is capable of driving or being driven substantially independently of human input.

8 Thus, the illustrative embodiments provide a method, apparatus, and system for building a fuselage assembly for an aircraft. In particular, the illustrative embodiments provide an autonomous flexible manufacturing system that automates most, if not all, of the process of building a fuselage assembly. For example, without limitation, the autonomous flexible manufacturing system may automate the process of installing fasteners to join fuselage skin panels and a fuselage support structure together to build the fuselage assembly.
However, the illustrative embodiments recognize and take into account that automating the process for building a fuselage assembly using an autonomous flexible manufacturing system may present unique technical challenges that require unique technical solutions. For example, the illustrative embodiments recognize and take into account that it may be desirable to provide utilities to all of the various systems within the autonomous flexible manufacturing system. In particular, it may be desirable to provide these utilities in a manner that will not disrupt or delay the process of building the fuselage assembly or restrict the movement of various mobile systems within the autonomous flexible manufacturing system over a factory floor.
For example, without limitation, it may be desirable to provide a set of utilities, such as power, communications, and air, to the autonomous flexible manufacturing system using an infrastructure that includes only a single direct connection to each of a set of utility sources providing the set of utilities. These direct connections may be above-ground, in-ground, or embedded. These direct connections may be established using, for example, without limitation, a utility fixture. Thus, the infrastructure may include a utility fixture that provides a direct connection to each of the set of utility sources and an assembly area with a floor space sufficiently large to allow the various systems of an autonomous flexible manufacturing system to be coupled to the utility fixture and each other in series. In this manner, the set of utilities may flow from the set of utility sources to the utility fixture and then downstream to the various systems of the autonomous flexible manufacturing system within the assembly area.

9 Thus, the illustrative embodiments provide a distributed utility network that may be used to provide utilities to the various systems of the autonomous flexible manufacturing system. The distributed utility network may provide these utilities in a manner that does not restrict or impede movement of the various mobile systems of the autonomous flexible manufacturing system. The different mobile systems of the autonomous flexible manufacturing system may be autonomously coupled to each other to create this distributed utility network.
Referring now to the figures and, in particular, with reference to Figures 1-6, illustrations of a manufacturing environment are depicted in the form of block diagrams in accordance with an illustrative embodiment. In particular, in Figures 1-6, a fuselage assembly, a flexible manufacturing system, the various systems within the flexible manufacturing system that may be used to build the fuselage assembly, and a distributed utility network are described.
Turning now to Figure 1, an illustration of a manufacturing environment is depicted in the form of a block diagram in accordance with an illustrative embodiment. In this illustrative example, manufacturing environment 100 may be an example of one environment in which at least a portion of fuselage 102 may be manufactured for aircraft 104.
Manufacturing environment 100 may take a number of different forms. For example, without limitation, manufacturing environment 100 may take the form of a factory, a manufacturing facility, an outdoor factory area, an enclosed manufacturing area, an offshore platform, or some other type of manufacturing environment suitable for building at least a portion of fuselage 102.
Fuselage 102 may be built using manufacturing process 108. Flexible manufacturing system 106 may be used to implement at least a portion of manufacturing process 108. In one illustrative example, manufacturing process may be substantially automated using flexible manufacturing system 106. In other illustrative examples, only one or more stages of manufacturing process 108 may be substantially automated.

Flexible manufacturing system 106 may be configured to perform at least a portion of manufacturing process 108 autonomously. In this manner, flexible manufacturing system 106 may be referred to as autonomous flexible manufacturing system 112. In other illustrative examples, flexible manufacturing system 106 may be referred to as an automated flexible manufacturing system.
As depicted, manufacturing process 108 may include assembly process 110 for building fuselage assembly 114. Flexible manufacturing system 106 may be configured to perform at least a portion of assembly process 110 autonomously.
Fuselage assembly 114 may be fuselage 102 at any stage during manufacturing process 108 prior to the completion of manufacturing process 108. In some cases, fuselage assembly 114 may be used to refer to a partially assembled fuselage 102. Depending on the implementation, one or more other components may need to be attached to fuselage assembly 114 to fully complete the assembly of fuselage 102. In other cases, fuselage assembly 114 may be used to refer to the fully assembled fuselage 102. Flexible manufacturing system 106 may build fuselage assembly 114 up to the point needed to move fuselage assembly 114 to a next stage in the manufacturing process for building aircraft 104. In some cases, at least a portion of flexible manufacturing system 106 may be used at one or more later stages in the manufacturing process for building aircraft 104.
In one illustrative example, fuselage assembly 114 may be an assembly for forming a particular section of fuselage 102. As one example, fuselage assembly 114 may take the form of aft fuselage assembly 116 for forming an aft section of fuselage 102. In another example, fuselage assembly 114 may take the form of forward fuselage assembly 117 for forming a forward section of fuselage 102.
In yet another example, fuselage assembly 114 may take the form of middle fuselage assembly 118 for forming a center section of fuselage 102 or some other middle section of fuselage 102 between the aft and forward sections of fuselage 102.
As depicted, fuselage assembly 114 may include plurality of panels 120 and support structure 121. Support structure 121 may be comprised of plurality of members 122. Plurality of members 122 may be used to both support plurality of panels 120 and connect plurality of panels 120 to each other. Support structure 121 may help provide strength, stiffness, and load support for fuselage assembly 114.
Plurality of members 122 may be associated with plurality of panels 120. As used herein, when one component or structure is "associated" with another component or structure, the association is a physical association in the depicted examples.
For example, a first component, such as one of plurality of members 122, may be considered to be associated with a second component, such as one of plurality of panels 120, by being at least one of secured to the second component, bonded to the second component, mounted to the second component, attached to the component, coupled to the component, welded to the second component, fastened to the second component, adhered to the second component, glued to the second component, or connected to the second component in some other suitable manner.

The first component also may be connected to the second component using one or more other components. For example, the first component may be connected to the second component using a third component. Further, the first component may be considered to be associated with the second component by being formed as part of the second component, an extension of the second component, or both. In another example, the first component may be considered part of the second component by being co-cured with the second component.
As used herein, the phrase "at least one of," when used with a list of items, means different combinations of one or more of the listed items may be used and only one of the items in the list may be needed. The item may be a particular object, thing, action, process, or category. In other words, "at least one of" means any combination of items or number of items may be used from the list, but not all of the items in the list may be required.
For example, "at least one of item A, item B, and item C" or "at least one of item A, item B, or item C" may mean item A; item A and item B; item B; item A, item B, and item C; or item B and item C. In some cases, "at least one of item A, item B, and item C" may mean, for example, without limitation, two of item A, one of item B, and ten of item C; four of item B and seven of item C; or some other suitable combination.
In these illustrative examples, a member of plurality of members 122 may be associated with at least one of plurality of panels 120 in a number of different ways.
For example, without limitation, a member of plurality of members 122 may be attached directly to a single panel, attached to two or more panels, attached to another member that is directly attached to at least one panel, attached to at least one member that is directly or indirectly attached to at least one panel, or associated with at least one of plurality of panels 120 in some other way.
In one illustrative example, substantially all or all of plurality of members may be associated with plurality of panels 120 prior to the beginning of assembly process 110 for building fuselage assembly 114. For example, a corresponding portion of plurality of members 122 may be associated with each panel of plurality of panels 120 prior to plurality of panels 120 being joined to each other through assembly process 110.
In another illustrative example, only a first portion of plurality of members may be associated with plurality of panels 120 prior to the beginning of assembly process 110. Assembly process 110 may include attaching a remaining portion of plurality of members 122 to plurality of panels 120 for at least one of providing support to plurality of panels 120 or connecting plurality of panels 120 together. The first portion of plurality of members 122 attached to plurality of panels 120 prior to assembly process 110 and the remaining portion of plurality of members 122 attached to plurality of panels 120 during assembly process 110 may together form support structure 121.
In yet another illustrative example, all of plurality of members 122 may be associated with plurality of panels 120 during assembly process 110. For example, each of plurality of panels 120 may be "naked" without any members attached to or otherwise associated with the panel prior to assembly process 110. During assembly process 110, plurality of members 122 may then be associated with plurality of panels 120.

In this manner, support structure 121 for fuselage assembly 114 may be built up in a number of different ways. Fuselage assembly 114 comprising plurality of panels 120 and support structure 121 is described in greater detail in Figure 2 below.
Building fuselage assembly 114 may include joining plurality of panels 120 together. Joining plurality of panels 120 may be performed in a number of different ways. Depending on the implementation, joining plurality of panels 120 together may include joining one or more of plurality of members 122 to one or more of plurality of panels 120 or to other members of plurality of members 122.
In particular, joining plurality of panels 120 may include joining at least one panel to at least one other panel, joining at least one member to at least one other member, or joining at least one member to at least one panel, or some combination thereof. As one illustrative example, joining a first panel and a second panel together may include at least one of the following: fastening the first panel directly to the second panel, joining a first member associated with the first panel to a second member associated with the second panel, joining a member associated with the first panel directly to the second panel, joining one member associated with both the first panel and the second panel to another member, joining a selected member to both the first panel and the second panel, or some other type of joining operation.
Assembly process 110 may include operations 124 that may be performed to join plurality of panels 120 together to build fuselage assembly 114. In this illustrative example, flexible manufacturing system 106 may be used to perform at least a portion of operations 124 autonomously.
Operations 124 may include, for example, but are not limited to, temporary connection operations 125, drilling operations 126, fastener insertion operations 128, fastener installation operations 130, inspection operations 132, other types of assembly operations, or some combination thereof. Temporary connection operations 125 may be performed to temporarily connect plurality of panels 120 together. For example, without limitation, temporary connection operations 125 may include temporarily tacking plurality of panels 120 together using tack fasteners.

Drilling operations 126 may include drilling holes through one or more of plurality of panels 120 and, in some cases, through one or more of plurality of members 122. Fastener insertion operations 128 may include inserting fasteners into the holes drilled by drilling operations 126.
Fastener installation operations 130 may include fully installing each of the fasteners that have been inserted into the holes. Fastener installation operations 130 may include, for example, without limitation, riveting operations, interference-fit bolting operations, other types of fastener installation operations, or some combination thereof. Inspection operations 132 may include inspecting the fully installed fasteners. Depending on the implementation, flexible manufacturing system 106 may be used to perform any number of these different types of operations substantially autonomously.
As depicted, flexible manufacturing system 106 may include plurality of mobile systems 134, control system 136, and utility system 138. Each of plurality of mobile systems 134 may be a drivable mobile system. In some cases, each of plurality of mobile systems 134 may be an autonomously drivable mobile system. For example, without limitation, each of plurality of mobile systems 134 may include one or more components that may be autonomously driven within manufacturing environment from one location to another location. Plurality of mobile systems 134 are described in greater detail in Figure 3 below.
In this illustrative example, control system 136 may be used to control the operation of flexible manufacturing system 106. For example, without limitation, control system 136 may be used to control plurality of mobile systems 134. In particular, control system 136 may be used to direct the movement of each of plurality of mobile systems 134 within manufacturing environment 100. Control system 136 may be at least partially associated with plurality of mobile systems 134.
In one illustrative example, control system 136 may include set of controllers 140. As used herein, a "set of" items may include one or more items. In this manner, set of controllers 140 may include one or more controllers.

Each of set of controllers 140 may be implemented using hardware, firmware, software, or some combination thereof. In one illustrative example, set of controllers 140 may be associated with plurality of mobile systems 134. For example, without limitation, one or more of set of controllers 140 may be implemented as part of plurality of mobile systems 134. In other examples, one or more of set of controllers 140 may be implemented independently of plurality of mobile systems 134.
Set of controllers 140 may generate commands 142 to control the operation of plurality of mobile systems 134 of flexible manufacturing system 106. Set of controllers 140 may communicate with plurality of mobile systems 134 using at least one of a wireless communications link, a wired communications link, an optical communications link, or other type of communications link. In this manner, any number of different types of communications links may be used for communication with and between set of controllers 140.
In these illustrative examples, control system 136 may control the operation of plurality of mobile systems 134 using data 141 received from sensor system 133.
Sensor system 133 may be comprised of any number of individual sensor systems, sensor devices, controllers, other types of components, or combination thereof. In one illustrative example, sensor system 133 may include laser tracking system and radar system 137. Laser tracking system 135 may be comprised of any number of laser tracking devices, laser targets, or combination thereof. Radar system may be comprised of any number of radar sensors, radar targets, or combination thereof.
Sensor system 133 may be used to coordinate the movement and operation of the various mobile systems in plurality of mobile systems 134 within manufacturing environment 100. As one illustrative example, radar system 137 may be used for macro-positioning mobile systems, systems within mobile systems, components within mobile systems, or some combination thereof. Further, laser tracking system 135 may be used for micro-positioning mobile systems, systems within mobile systems, components within mobile systems, or some combination thereof.

Plurality of mobile systems 134 may be used to form distributed utility network 144. Depending on the implementation, one or more of plurality of mobile systems 134 may form distributed utility network 144. Number of utilities 146 may flow from number of utility sources 148 to the various mobile systems of plurality of mobile systems 134 that make up distributed utility network 144.
In this illustrative example, each of number of utility sources 148 may be located with manufacturing environment 100. In other illustrative examples, one or more of number of utility sources 148 may be located outside of manufacturing environment 100. The corresponding utility provided by these one or more utility sources may then be carried into manufacturing environment 100 using, for example, without limitation, one or more utility cables.
In one illustrative example, distributed utility network 144 may allow number of utilities 146 to flow directly from number of utility sources 148 to one mobile system in plurality of mobile systems 134 over some number of utility cables. This one mobile system may then distribute number of utilities 146 to other mobile systems of plurality of mobile systems 134 such that these other mobile systems do not need to directly receive number of utilities 146 from number of utility sources 148.
As depicted, distributed utility network 144 may be formed using utility system 138. Utility system 138 may include utility fixture 150. Utility system 138 may be configured to connect to number of utility sources 148 such that number of utilities 146 may flow from number of utility sources 148 to utility fixture 150.
Utility fixture 150 may be above-ground or in-ground, depending on the implementation. For example, without limitation, utility fixture 150 may be embedded in a floor within manufacturing environment 100.
Utility fixture 150 may then distribute number of utilities 146 to one or more of plurality of mobile systems 134. In particular, one autonomous coupling of one of plurality of mobile systems 134 to utility fixture 150 may be followed by any number of autonomous couplings of mobile systems to each other in series to form distributed utility network 144. Utility fixture 150 may distribute number of utilities 146 to each of plurality of mobile systems 134 downstream of utility fixture 150 in the series of autonomous couplings of the mobile systems.
Depending on the implementation, distributed utility network 144 may have a chain-like configuration or a tree-like configuration. In one illustrative example, plurality of mobile systems 134 may include mobile systems A, B, C, and D (not shown in figure) with mobile system A autonomously coupled to utility fixture 150 and mobile systems B, C, and D autonomously coupled to mobile system A and each other in series. An example of a chain-like configuration for distributed utility network 144 may include number of utilities 146 flowing from number of utility sources over some number of utility cables to utility fixture 150, from utility fixture 150 to mobile system A, from mobile system A to mobile system B, from mobile system B
to mobile system C, and from mobile system C to mobile system D. An example of a tree-like configuration for distributed utility network 144 may include number of utilities 146 flowing from number of utility sources 148 over some number of utility cables to utility fixture 150, from utility fixture 150 to mobile system A, from mobile system A to both mobile system B and mobile system C, and from mobile system C

to mobile system D. An example of one manner in which distributed utility network 144 may be implemented using plurality of mobile systems 134 is described in greater detail in Figure 5 below.
In some illustrative examples, multiple flexible manufacturing systems may be used to build multiple fuselage assemblies concurrently. For example, flexible manufacturing system 106 may be a first flexible manufacturing system of many flexible manufacturing systems.
In one illustrative example, flexible manufacturing system 106, second flexible manufacturing system 152, and third flexible manufacturing system 154 may be used to build aft fuselage assembly 116, middle fuselage assembly 118, and forward fuselage assembly 117, respectively. Aft fuselage assembly 116, middle fuselage assembly 118, and forward fuselage assembly 117 may then be joined together to form a fully assembled fuselage 102. In this manner, in this example, flexible manufacturing system 106, second flexible manufacturing system 152, and third flexible manufacturing system 154 may together form flexible fuselage manufacturing system 158.
Thus, any number of fuselage assemblies, such as fuselage assembly 114, may be built within manufacturing environment 100 using any number of flexible manufacturing systems implemented in a manner similar to flexible manufacturing system 106. Similarly, any number of full fuselages, such as fuselage 102, may be built within manufacturing environment 100 using any number of flexible fuselage manufacturing systems implemented in a manner similar to flexible fuselage manufacturing system 158.
With reference now to Figure 2, an illustration of fuselage assembly 114 from Figure 1 is depicted in the form of a block diagram in accordance with an illustrative embodiment. As described above, fuselage assembly 114 may include plurality of panels 120 and support structure 121. Fuselage assembly 114 may be used to refer to any stage in the building of fuselage assembly 114. For example, fuselage assembly 114 may be used to refer to a single one of plurality of panels 120, multiple ones of plurality of panels 120 that have been or are being joined together, a partially built fuselage assembly, or a fully built fuselage assembly.
As depicted, fuselage assembly 114 may be built such that fuselage assembly 114 has plurality of fuselage sections 205. Each of plurality of fuselage sections 205 may include one or more of plurality of panels 120. In this illustrative example, each of plurality of fuselage sections 205 may take the form of a cylindrically-shaped fuselage section, a barrel-shaped fuselage section, a tapered cylindrical fuselage section, a cone-shaped fuselage section, a dome-shaped fuselage section, or a section having some other type of shape. Depending on the implementation, a fuselage section of plurality of fuselage sections 205 may have a shape that has a substantially circular cross-sectional shape, elliptical cross-sectional shape, oval cross-sectional shape, polygon with rounded corners cross-sectional shape, or otherwise closed-curve cross-sectional shape.
As one specific illustrative example, each of plurality of fuselage sections may be a portion of fuselage assembly 114 defined between two radial cross-sections of fuselage assembly 114 that are taken substantially perpendicular to a center axis or longitudinal axis through fuselage assembly 114. In this manner, plurality of fuselage sections 205 may be arranged along the longitudinal axis of fuselage assembly 114. In other words, plurality of fuselage sections 205 may be arranged longitudinally.
Fuselage section 207 may be an example of one of plurality of fuselage sections 205. Fuselage section 207 may be comprised of one or more of plurality of panels 120. In one illustrative example, multiple panel sections may be arranged circumferentially around fuselage section 207 to form the skin of fuselage section 207. In some cases, multiple rows of two or more longitudinally adjacent panels may be arranged circumferentially around fuselage section 207 to form the skin of fuselage section 207.
In one illustrative example, fuselage assembly 114 may have crown 200, keel 202, and sides 204. Sides 204 may include first side 206 and second side 208.
Crown 200 may be the top portion of fuselage assembly 114. Keel 202 may be the bottom portion of fuselage assembly 114. Sides 204 of fuselage assembly 114 may be the portions of fuselage assembly 114 between crown 200 and keel 202.
In one illustrative example, each of crown 200, keel 202, first side 206, and second side 208 of fuselage assembly 114 may be formed by at least a portion of at least one of plurality of panels 120. Further, a portion of each of plurality of fuselage sections 205 may form each of crown 200, keel 202, first side 206, and second side 208.
Panel 216 may be an example of one of plurality of panels 120. Panel 216 may also be referred to as a skin panel, a fuselage panel, or a fuselage skin panel, depending on the implementation. In some illustrative examples, panel 216 may take the form of a mega-panel comprised of multiple smaller panels, which may be referred to as sub-panels. A mega-panel may also be referred to as a super panel.
In these illustrative examples, panel 216 may be comprised of at least one of a metal, a metal alloy, some other type of metallic material, a composite material, or some other type of material. As one illustrative example, panel 216 may be comprised of an aluminum alloy, steel, titanium, a ceramic material, a composite material, some other type of material, or some combination thereof.
When used to form keel 202 of fuselage assembly 114, panel 216 may be referred to as a keel panel or a bottom panel. When used to form one of sides 204 of fuselage assembly 114, panel 216 may be referred to as a side panel. When used to form crown 200 of fuselage assembly 114, panel 216 may be referred to as a crown panel or a top panel. As one illustrative example, plurality of panels 120 may include crown panels 218 for forming crown 200, side panels 220 for forming sides 204, and keel panels 222 for forming keel 202. Side panels 220 may include first side panels 224 for forming first side 206 and second side panels 226 for forming second side 208.
In one illustrative example, fuselage section 207 of plurality of fuselage sections 205 of fuselage assembly 114 may include one of crown panels 218, two of side panels 220, and one of keel panels 222. In another illustrative example, fuselage section 207 may form an end of fuselage assembly 114.
In some cases, fuselage section 207 may be comprised solely of a single panel, such as panel 216. For example, without limitation, panel 216 may take the form of end panel 228.
End panel 228 may be used to form one end of fuselage assembly 114. For example, when fuselage assembly 114 takes the form of aft fuselage assembly in Figure 1, end panel 228 may form the aftmost end of fuselage assembly 114.
When fuselage assembly 114 takes the form of forward fuselage assembly 117 in Figure 1, end panel 228 may form the forwardnnost end of fuselage assembly 114.
In one illustrative example, end panel 228 may take the form of a cylindrically-shaped panel, a cone-shaped panel, a barrel-shaped panel, or a tapered cylindrical panel. For example, end panel 228 may be a single cylindrically-shaped panel having a substantially circular cross-sectional shape that may change in diameter with respect to a center axis for fuselage assembly 114.
In this manner, as described above, fuselage section 207 may be comprised solely of end panel 228. In some illustrative examples, fuselage section 207 may be an end fuselage section that is comprised of only a single panel, which may be end panel 228. In some cases, bulkhead 272 may be associated with end panel 228 when fuselage section 207 is an end fuselage section. Bulkhead 272, which may also be referred to as a pressure bulkhead, may be considered separate from or part of end panel 228, depending on the implementation. Bulkhead 272 may have a dome-type shape in these illustrative examples.
When fuselage assembly 114 takes the form of aft fuselage assembly 116 in Figure 1, bulkhead 272 may be part of fuselage section 207 located at the aftmost end of aft fuselage assembly 116. When fuselage assembly 114 takes the form of forward fuselage assembly 117 in Figure 1, bulkhead 272 may be part of fuselage section 207 located at forwardmost end of aft fuselage assembly 116. Middle fuselage assembly 118 in Figure 1 may not include a bulkhead, such as bulkhead 272, at either end of middle fuselage assembly 118. In this manner, plurality of fuselage sections 205 may be implemented in any number of different ways.
Panel 216 may have first surface 230 and second surface 232. First surface 230 may be configured for use as an exterior-facing surface. In other words, first surface 230 may be used to form exterior 234 of fuselage assembly 114. Second surface 232 may be configured for use as an interior-facing surface. In other words, second surface 232 may be used to form interior 236 of fuselage assembly 114.
Each of plurality of panels 120 may be implemented in a manner similar to panel 216.
As described earlier, support structure 121 may be associated with a corresponding one of plurality of panels 120. Support structure 121 may be comprised of plurality of members 122 that are associated with panel 216. In one illustrative example, corresponding portion 240 may be the portion of plurality of members 122 that correspond to panel 216. Corresponding portion 240 may form support section 238 corresponding to panel 216. Support section 238 may form a part of support structure 121.
Plurality of members 122 may include support members 242. Support members 242 may include, for example, without limitation, at least one of connecting members 244, frames 246, stringers 248, stiffeners 250, stanchions 252, intercostal structural members 254, or other types of structural members.
Connecting members 244 may connect other types of support members 242 together. In some cases, connecting members 244 may also connect support members 242 to plurality of panels 120. Connecting members 244 may include, for example, without limitation, shear clips 256, ties 258, splices 260, intercostal connecting members 262, other types of mechanical connecting members, or some combination thereof.
In one illustrative example, when panel 216 is comprised of multiple sub-panels, connecting members 244 may be used to, for example, without limitation, connect together complementary frames of frames 246 running in the hoop-wise direction on adjacent sub-panels and complementary stringers of stringers 248 running in the longitudinal direction on adjacent sub-panels. In other illustrative examples, connecting members 244 may be used to connect together complementary frames, stringers, or other types of support members on two or more adjacent panels in plurality of panels 120. In some cases, connecting members may be used to connect together complementary support members on two or more adjacent fuselage sections.
Operations 124, as described in Figure 1, may be performed to join plurality of panels 120 together to build fuselage assembly 114. In one illustrative example, plurality of fasteners 264 may be used to join plurality of panels 120 together.
As described above, joining plurality of panels 120 together may be performed in a number of different ways. Joining plurality of panels 120 together may include at least one of joining at least one panel in plurality of panels 120 to another one of plurality of panels 120, joining at least one panel in plurality of panels 120 to at least one of plurality of members 122, joining at least one member in plurality of members 122 to another one of plurality of members 122, or some other type of joining operation. Plurality of panels 120 may be joined together such that plurality of members 122 ultimately form support structure 121 for fuselage assembly 114.

As depicted, number of floors 266 may be associated with fuselage assembly 114. In this illustrative example, number of floors 266 may be part of fuselage assembly 114. Number of floors 266 may include, for example, without limitation, at least one of a passenger floor, a cargo floor, or some other type of floor.
With reference now to Figure 3, an illustration of plurality of mobile systems 134 of flexible manufacturing system 106 within manufacturing environment 100 from Figure 1 is depicted in the form of a block diagram in accordance with an illustrative embodiment. As depicted, flexible manufacturing system 106 may be used to build fuselage assembly 114 on floor 300 of manufacturing environment 100. When manufacturing environment 100 takes the form of a factory, floor 300 may be referred to as factory floor 302.
In one illustrative example, floor 300 may be substantially smooth and substantially planar. For example, floor 300 may be substantially level. In other illustrative examples, one or more portions of floor 300 may be sloped, ramped, or otherwise uneven.
Assembly area 304 may be an area within manufacturing environment 100 designated for performing assembly process 110 in Figure Ito build a fuselage assembly, such as fuselage assembly 114. Assembly area 304 may also be referred to as a cell or a work cell. In this illustrative example, assembly area 304 may be a designated area on floor 300. However, in other illustrative examples, assembly area 304 may include a designated area on floor 300 as well as the area above this designated area. Any number of assembly areas may be present within manufacturing environment 100 such that any number of fuselage assemblies may be built concurrently within manufacturing environment 100.
As depicted, plurality of mobile systems 134 may include plurality of autonomous vehicles 306, cradle system 308, tower system 310, and autonomous tooling system 312. Each of plurality of mobile systems 134 may be drivable across floor 300. In other words, each of plurality of mobile systems 134 may be capable of being autonomously driven across floor 300 from one location 315 to another location 317 on floor 300.

In one illustrative example, each of plurality of autonomous vehicles 306 may take the form of an automated guided vehicle (AGV), which may be capable of operating independently without human direction or guidance. In some cases, plurality of autonomous vehicles 306 may be referred to as a plurality of automated guided vehicles (AGVs).
In this illustrative example, cradle system 308 may be used to support and hold fuselage assembly 114 during assembly process 110 in Figure 1. In some cases, cradle system 308 may be referred to as a drivable cradle system. In still other cases, cradle system 308 may be referred to as an autonomously drivable cradle system.
Cradle system 308 may include number of fixtures 313. As used herein, a "number of" items may include one or more items. In this manner, number of fixtures 313 may include one or more fixtures. In some illustrative examples, number of fixtures 313 may be referred to as a number of drivable fixtures. In other illustrative examples, number of fixtures 313 may be referred to as a number of autonomously drivable fixtures.
Number of fixtures 313 may include number of cradle fixtures 314. In some illustrative examples, number of cradle fixtures 314 may be referred to as a number of drivable cradle fixtures. In other illustrative examples, number of cradle fixtures 314 may be referred to as a number of autonomously drivable cradle fixtures.
Cradle fixture 322 may be an example of one of number of cradle fixtures 314.
Number of retaining structures 326 may be associated with each of number of cradle fixtures 314. Number of retaining structures 326 associated with each of number of cradle fixtures 314 may be engaged with and used to support fuselage assembly 114. For example, number of retaining structures 326 associated with cradle fixture 322 may be engaged with and used to support one or more of plurality of panels 120.
Number of cradle fixtures 314 may be autonomously driven across floor 300 of manufacturing environment 100 to assembly area 304. In one illustrative example, each of number of cradle fixtures 314 may be autonomously driven across floor using a corresponding one of plurality of autonomous vehicles 306. In other words, without limitation, number of corresponding autonomous vehicles 316 in plurality of autonomous vehicles 306 may be used to drive number of cradle fixtures 314 across floor 300 into assembly area 304.
In this illustrative example, number of corresponding autonomous vehicles 316 may drive from, for example, without limitation, holding area 318, across floor 300, to assembly area 304. Holding area 318 may be an area in which at least one of plurality of autonomous vehicles 306, cradle system 308, tower system 310, autonomous tooling system 312, or control system 136 from Figure 1 may be held when flexible manufacturing system 106 is not in use or when that particular device or system is not in use.
Holding area 318 may be referred to as a home area, a storage area, or a base area, depending on the implementation. Although holding area 318 is depicted as being located within manufacturing environment 100, holding area 318 may be located in some other area or environment outside of manufacturing environment in other illustrative examples.
Number of corresponding autonomous vehicles 316 in plurality of autonomous vehicles 306 may drive number of cradle fixtures 314 into number of selected cradle positions 320. As used herein, a "position" may be comprised of a location, an orientation, or both. The location may be in two-dimensional coordinates or three-dimensional coordinates with respect to a reference coordinate system. The orientation may be a two-dimensional or three-dimensional orientation with respect to a reference coordinate system. This reference coordinate system may be, for example, without limitation, a fuselage coordinate system, an aircraft coordinate system, a coordinate system for manufacturing environment 100, or some other type of coordinate system.
When number of cradle fixtures 314 includes more than one cradle fixture such that number of selected cradle positions 320 includes more than one cradle position, these cradle positions may be positions selected relative to each other. In this manner, number of cradle fixtures 314 may be positioned such that number of cradle fixtures 314 are in number of selected cradle positions 320 relative to each other.
In these illustrative examples, number of corresponding autonomous vehicles 316 may be used to drive number of cradle fixtures 314 into number of selected cradle positions 320 within assembly area 304. "Driving" a component or a system across floor 300 may mean, for example, but not limited to, moving substantially the entirety of that component or system from one location to another location.
For example, without limitation, driving cradle fixture 322 across floor 300 may mean moving the entirety of cradle fixture 322 from one location to another location. In other words, all or substantially all components that comprise cradle fixture 322 may be simultaneously moved together from one location to another location.
Once number of cradle fixtures 314 has been driven into number of selected cradle positions 320 in assembly area 304, number of cradle fixtures 314 may be coupled to each other and to tower system 310. Number of corresponding autonomous vehicles 316 may then drive away from number of cradle fixtures 314 to, for example, without limitation, holding area 318, once number of cradle fixtures 314 is positioned in number of selected cradle positions 320 within selected tolerances.
In other illustrative examples, number of corresponding autonomous vehicles may be comprised of a single autonomous vehicle that is used to drive each of number of cradle fixtures 314 into a corresponding selected position in number of selected cradle positions 320 within assembly area 304 one at a time.
In assembly area 304, number of cradle fixtures 314 may be configured to form assembly fixture 324. Assembly fixture 324 may be formed when the different cradle fixtures in number of cradle fixtures 314 have been placed in number of selected cradle positions 320 relative to each other. In some cases, assembly fixture 324 may be formed when number of cradle fixtures 314 have been coupled to each other while number of cradle fixtures 314 is in number of selected cradle positions 320 and when number of retaining structures 326 associated with each of number of cradle fixtures 314 has been adjusted to receive fuselage assembly 114.

In this manner, number of cradle fixtures 314 may form a single fixture entity, such as assembly fixture 324. Assembly fixture 324 may be used to support and hold fuselage assembly 114. In some cases, assembly fixture 324 may be referred to as an assembly fixture system or a fixture system. In some cases, assembly fixture 324 may be referred to as a drivable assembly fixture. In other cases, assembly fixture 324 may be referred to as an autonomously drivable assembly fixture.
Once assembly fixture 324 has been formed, number of cradle fixtures 314 may receive fuselage assembly 114. In other words, plurality of fuselage sections 205 may be engaged with number of cradle fixtures 314. In particular, plurality of fuselage sections 205 may be engaged with number of retaining structures 326 associated with each of number of cradle fixtures 314. Plurality of fuselage sections 205 may be engaged with number of cradle fixtures 314 in any number of ways.
When number of cradle fixtures 314 includes a single cradle fixture, that cradle fixture may be used to support and hold substantially the entire fuselage assembly 114. When number of cradle fixtures 314 includes multiple cradle fixtures, each of these cradle fixtures may be used to support and hold at least one corresponding fuselage section of plurality of fuselage sections 205.
In one illustrative example, each of plurality of fuselage sections 205 may be engaged with number of cradle fixtures 314 one at a time. For example, without limitation, all of the panels for a particular fuselage section in plurality of fuselage sections 205 may be positioned relative to each other and a corresponding cradle fixture in number of cradle fixtures 314 and then engaged with the corresponding cradle fixture. The remaining fuselage sections in plurality of fuselage sections 205 may then be formed and engaged with number of cradle fixtures 314 in a similar manner. In this manner, plurality of panels 120 may be engaged with number of cradle fixtures 314 by engaging at least a portion of plurality of panels 120 with number of retaining structures 326 associated with each of number of cradle fixtures 314 that makes up assembly fixture 324 such that plurality of panels 120 is supported by number of cradle fixtures 314.

As described in Figure 2, plurality of panels 120 may include keel panels 222, side panels 220, and crown panels 218. In one illustrative example, all of keel panels 222 in Figure 2 used to form keel 202 of fuselage assembly 114 in Figure 2 may first be positioned relative to and engaged with number of cradle fixtures 314.
Next, all of side panels 220 in Figure 2 used to form sides 204 of fuselage assembly 114 in Figure 2 may be positioned relative to and engaged with keel panels 222. Then, all of crown panels 218 in Figure 2 used to form crown 200 of fuselage assembly 114 in Figure 2 may be positioned relative to and engaged with side panels 220. In this manner, plurality of fuselage sections 205 may be concurrently assembled to form fuselage assembly 114.
In one illustrative example, each panel in plurality of panels 120 may have a corresponding portion of plurality of members 122 fully formed and associated with the panel prior to the panel being engaged with one of number of cradle fixtures 314.
This corresponding portion of plurality of members 122 may be referred to as a support section. For example, support section 238 in Figure 2 may be fully formed and associated with panel 216 in Figure 2 prior to panel 216 being engaged with one of number of cradle fixtures 314 or another panel of plurality of panels 120 in Figure 2. In other words, a corresponding portion of support members 242 in Figure 2 may already be attached to panel 216 and a corresponding portion of connecting members 244 in Figure 2 already installed to connect this portion of support members 242 to each other prior to panel 216 from Figure 2 being engaged with one of number of cradle fixtures 314.
In other illustrative examples, plurality of members 122 may be associated with plurality of panels 120 after plurality of panels 120 have been engaged with each other and number of cradle fixtures 314. In still other illustrative examples, only a portion of plurality of members 122 may be associated with plurality of panels prior to plurality of panels 120 being engaged with each other and number of cradle fixtures 314 and then a remaining portion of plurality of members 122 associated with plurality of panels 120 once plurality of panels 120 have been engaged with each other and number of cradle fixtures 314.

In some illustrative examples, one or more of support members 242 in Figure 2, one or more of connecting members 244 in Figure 2, or both may not be associated with panel 216 when panel 216 from Figure 2 is engaged with one of number of cradle fixtures 314 or with one of the other panels in plurality of panels 120. For example, without limitation, frames 246 described in Figure 2 may be added to panel 216 from Figure 2 after panel 216 has been engaged with cradle fixture 322. In another example, stiffeners 250 described in Figure 2 may be added to panel 216 from Figure 2 after panel 216 has been engaged with cradle fixture 322.
Building fuselage assembly 114 may include engaging plurality of panels 120 with each other as plurality of panels 120 are built up on number of cradle fixtures 314 of assembly fixture 324. For example, adjacent panels in plurality of panels 120 may be connected by connecting at least a portion of the support members associated with the panels. Depending on the implementation, at least one of lap splices, butt splices, or other types of splices may be used to connect the adjacent panels in addition to or in place of connecting the corresponding support members of the adjacent panels.
As one illustrative example, the support members associated with two adjacent panels in plurality of panels 120 may be connected together using connecting members, thereby connecting the two adjacent panels. The two support members associated with these two adjacent panels may be, for example, without limitation, spliced, tied, clipped, tacked, pinned, joined, or fastened together in some other manner. When the two adjacent panels are hoop-wise adjacent, complementary frames may be connected in the hoop-wise direction. When the two adjacent panels are longitudinally adjacent, complementary stringers may be connected in the longitudinal direction.
In some cases, connecting complementary stringers, frames, or other support members on these two adjacent panels may be part of splicing these panels together. Adjacent panels may be connected together using any number of panel splices, stringer splices, frame splices, or other types of splices.

In one illustrative example, plurality of panels 120 may be temporarily connected to each other by temporarily fastening at least one of plurality of panels 120 or plurality of members 122 together using temporary fasteners or permanent fasteners. For example, without limitation, temporary clamps may be used to temporarily connect and hold in place two of plurality of panels 120 together.
Temporarily connecting plurality of panels 120 together may be performed by at least one of temporarily connecting at least two plurality of panels 120 together, temporarily connecting at least two plurality of members 122 together, or temporarily connecting at least one of plurality of panels 120 to at least one of plurality of members 122 such that plurality of members 122 associated with plurality of panels 120 forms support structure 121 in Figure 2 for fuselage assembly 114.
As one illustrative example, plurality of panels 120 may be temporarily tacked or pinned together using temporary fasteners 328 until plurality of fasteners 264 are installed to join plurality of panels 120 together to form fuselage assembly 114.
Temporarily connecting plurality of panels 120 may temporarily connect together plurality of fuselage sections 205 from Figure 2 formed by plurality of panels 120.
Once plurality of fasteners 264 have been installed, temporary fasteners 328 may then be removed.
In this manner, plurality of panels 120 may be connected together in a number of different ways. Once plurality of panels 120 have been connected together, plurality of members 122 may be considered as forming support structure 121 for fuselage assembly 114. Connecting plurality of panels 120 together and forming support structure 121 may maintain desired compliance with outer mold line requirements and inner mold line requirements for fuselage assembly 114. In other words, plurality of panels 120 may be held together in place relative to each other such that fuselage assembly 114 formed using plurality of panels 120 meets outer mold line requirements and inner mold line requirements for fuselage assembly within selected tolerances.
In particular, assembly fixture 324 may support plurality of panels 120 and support structure 121 associated with plurality of panels 120 such that fuselage assembly 114 built using plurality of panels 120 and support structure 121 has a shape and a configuration that is within selected tolerances. In this manner, this shape and configuration may be maintained within selected tolerances while supporting plurality of panels 120 and plurality of members 122 associated with plurality of panels 120 during the building of fuselage assembly 114. This shape may be at least partially determined by, for example, without limitation, the outer mold line requirements and inner mold line requirements for fuselage assembly 114. In some cases, the shape may be at least partially determined by the location and orientation of the frames and stringers of fuselage assembly 114.
In some cases, when the assembly of plurality of panels 120 and support structure 121 that comprise fuselage assembly 114 has reached a desired point, number of corresponding autonomous vehicles 316 may drive assembly fixture 324 out of assembly area 304. For example, fuselage assembly 114 may be driven across floor 300 into a different area within manufacturing environment 100, from floor 300 onto another floor in a different manufacturing environment, or from floor 300 onto another floor in some other area or environment.
In one illustrative example, assembly fixture 324 may be driven to some other location at which another assembly fixture is located such that the two assembly fixtures may be coupled to form a larger assembly fixture. As one illustrative example, assembly fixture 324 may be used to hold and support aft fuselage assembly 116 in Figure 1, while another assembly fixture implemented in a manner similar to assembly fixture 324 may be used to hold and support forward fuselage assembly 117 in Figure 1. Yet another assembly fixture implemented in a manner similar to assembly fixture 324 may be used to hold and support middle fuselage assembly 118 in Figure 1.
Once these three fuselage assemblies have been built, the three assembly fixtures may be brought together to form a larger assembly fixture for holding aft fuselage assembly 116, middle fuselage assembly 118, and forward fuselage assembly 117 such that these three fuselage assemblies may be joined to form fuselage 102 described in Figure 1. In particular, this larger assembly fixture may hold aft fuselage assembly 116, middle fuselage assembly 118, and forward fuselage assembly 117 in alignment with each other such that fuselage 102 may be built within selected tolerances.
In another illustrative example, a first assembly fixture and a second assembly fixture implemented in a manner similar to assembly fixture 324 may be used to hold and support aft fuselage assembly 116 and forward fuselage assembly 117, respectively, from Figure 1. Once these two fuselage assemblies have been built, the two assembly fixtures may then be brought together to form a larger assembly fixture for holding the two fuselage assemblies such that these fuselage assemblies may be joined to form fuselage 102. The larger assembly fixture may hold aft fuselage assembly 116 and forward fuselage assembly 117 in alignment with each other such that fuselage 102 may be built within selected tolerances.
As depicted, tower system 310 includes number of towers 330. Tower 332 may be an example of one implementation for one of number of towers 330. Tower 332 may be configured to provide access to interior 236 of fuselage assembly described in Figure 2. In some illustrative examples, tower 332 may be referred to as a drivable tower. In other illustrative examples, tower 332 may be referred to as an autonomously drivable tower.
In one illustrative example, tower 332 may take the form of first tower 334.
First tower 334 may also be referred to as an operator tower in some cases. In another illustrative example, tower 332 may take the form of second tower 336.

Second tower 336 may also be referred to as a robotics tower in some cases. In this manner, number of towers 330 may include both first tower 334 and second tower 336.
First tower 334 may be configured substantially for use by a human operator, whereas second tower 336 may be configured substantially for use by a mobile platform having at least one robotic device associated with the mobile platform. In other words, first tower 334 may allow a human operator to access and enter interior 236 of fuselage assembly 114. Second tower 336 may allow a mobile platform to access and enter interior 236 of fuselage assembly 114.

First tower 334 and second tower 336 may be positioned relative to assembly fixture 324 at different times during assembly process 110. As one illustrative example, one of plurality of autonomous vehicles 306 may be used to move or autonomously drive first tower 334 from holding area 318 into selected tower position 338 within assembly area 304. Number of cradle fixtures 314 may then be autonomously driven, using number of corresponding autonomous vehicles 316, into number of selected cradle positions 320 relative to first tower 334, which is in selected tower position 338 within assembly area 304.
Second tower 336 may be exchanged for first tower 334 at some later stage during assembly process 110 in Figure 1. For example, one of plurality of autonomous vehicles 306 may be used to autonomously drive first tower 334 out of assembly area 304 and back into holding area 318. The same autonomous vehicle or a different autonomous vehicle in plurality of autonomous vehicles 306 may then be used to autonomously drive second tower 336 from holding area 318 into selected tower position 338 within assembly area 304 that was previously occupied by first tower 334. Depending on the implementation, first tower 334 may be later exchanged for second tower 336.
In other illustrative examples, first tower 334 and second tower 336 may each have an autonomous vehicle in plurality of autonomous vehicles 306 fixedly associated with the tower. In other words, one of plurality of autonomous vehicles 306 may be integrated with first tower 334 and one of plurality of autonomous vehicles 306 may be integrated with second tower 336. For example, one of plurality of autonomous vehicles 306 may be considered part of or built into first tower 334.
First tower 334 may then be considered capable of autonomously driving across floor 300. In a similar manner, one of plurality of autonomous vehicles 306 may be considered part of or built into second tower 336. Second tower 336 may then be considered capable of autonomously driving across floor 300.
Tower system 310 and assembly fixture 324 may be configured to form interface 340 with each other. Interface 340 may be a physical interface between tower system 310 and assembly fixture 324. Tower system 310 may also be configured to form interface 342 with utility system 138. In one illustrative example, interface 340 and interface 342 may be autonomously formed.
Interface 342 may be a physical interface between tower system 310 and utility system 138. In these illustrative examples, in addition to being physical interfaces, interface 340 and interface 342 may also be utility interfaces.
For example, with respect to the utility of power, interface 340 and interface 342 may be considered electrical interfaces.
Utility system 138 is configured to distribute number of utilities 146 to tower system 310 when tower system 310 and utility system 138 are physically and electrically coupled through interface 342. Tower system 310 may then distribute number of utilities 146 to assembly fixture 324 formed by cradle system 308 when assembly fixture 324 and tower system 310 are physically and electrically coupled through interface 340. Number of utilities 146 may include at least one of power, air, hydraulic fluid, communications, water, or some other type of utility.
As depicted, utility system 138 may include utility fixture 150. Utility fixture 150 may be configured to receive number of utilities 146 from number of utility sources 148. Number of utility sources 148 may include, for example, without limitation, at least one of a power generator, a battery system, a water system, an electrical line, a communications system, a hydraulic fluid system, an air tank, or some other type of utility source. For example, utility fixture 150 may receive power from a power generator.
In one illustrative example, utility fixture 150 may be positioned relative to assembly area 304. Depending on the implementation, utility fixture 150 may be positioned inside assembly area 304 or outside of assembly area 304.
In some illustrative examples, utility fixture 150 may be associated with floor 300. Depending on the implementation, utility fixture 150 may be permanently associated with floor 300 or temporarily associated with floor 300. In other illustrative examples, utility fixture 150 may be associated with some other surface of manufacturing environment 100, such as a ceiling, or some other structure in manufacturing environment 100. In some cases, utility fixture 150 may be embedded within floor 300.
In one illustrative example, first tower 334 may be autonomously driven into selected tower position 338 with respect to floor 300 relative to utility fixture 150 such that interface 342 may be formed between first tower 334 and utility fixture 150.
Once interface 342 has been formed, number of utilities 146 may flow from utility fixture 150 to first tower 334. Assembly fixture 324 may then autonomously form interface 340 with first tower 334 to form a network of utility cables between first tower 334 and assembly fixture 324. Once both interface 342 and interface 340 have been formed, number of utilities 146 received at utility fixture 150 may flow from utility fixture 150 to first tower 334 and to each of number of cradle fixtures 314 that forms assembly fixture 324. In this manner, first tower 334 may function as a conduit or "middleman" for distributing number of utilities 146 to assembly fixture 324.
When interface 340 has been formed between second tower 336 and assembly fixture 324 and interface 342 has been formed between second tower and utility fixture 150, number of utilities 146 may be provided to second tower 336 and assembly fixture 324 in a similar manner as described above. Thus, utility fixture 150 may distribute number of utilities 146 to tower system 310 and assembly fixture 324 without tower system 310 and cradle assembly fixture 324 having to separately connect to number of utility sources 148 or any other utility sources.
Autonomous tooling system 312 may be used to assemble plurality of panels 120 and support structure 121 while fuselage assembly 114 is being supported and held by assembly fixture 324. Autonomous tooling system 312 may include plurality of mobile platforms 344. Each of plurality of mobile platforms 344 may be configured to perform one or more of operations 124 in assembly process 110 described in Figure 1. In particular, plurality of mobile platforms 344 may be autonomously driven into selected positions relative to plurality of panels 120 within selected tolerances to autonomously perform operations 124 that join plurality of panels 120 together to build fuselage assembly 114. Plurality of mobile platforms 344 are described in greater detail in Figure 4 below.

In this illustrative example, set of controllers 140 in control system 136 may generate commands 142 as described in Figure 1 to control the operation of at least one of cradle system 308, tower system 310, utility system 138, autonomous tooling system 312, or plurality of autonomous vehicles 306. Set of controllers 140 in Figure 1 may communicate with at least one of cradle system 308, tower system 310, utility system 138, autonomous tooling system 312, or plurality of autonomous vehicles using any number of wireless communications links, wired communications links, optical communications links, other types of communications links, or combination thereof.
In this manner, plurality of mobile systems 134 of flexible manufacturing system 106 may be used to automate the process of building fuselage assembly 114.
Plurality of mobile systems 134 may enable fuselage assembly 114 to be built substantially autonomously with respect to joining together plurality of panels 120 to reduce the overall time, effort, and human resources needed.
Flexible manufacturing system 106 may build fuselage assembly 114 up to the point needed to move fuselage assembly 114 to the next stage in manufacturing process 108 for building fuselage 102 or the next stage in the manufacturing process for building aircraft 104, depending on the implementation. In some cases, cradle system 308 in the form of assembly fixture 324 may continue carrying and supporting fuselage assembly 114 during one or more of these later stages in manufacturing process 108 for building fuselage 102 and aircraft 104.
With reference now to Figure 4, an illustration of plurality of mobile platforms 344 from Figure 3 is depicted in the form of a block diagram in accordance with an illustrative embodiment. As depicted, plurality of mobile platforms 344 may include number of external mobile platforms 400 and number of internal mobile platforms 402. In this manner, plurality of mobile platforms 344 may include at least one external mobile platform and at least one internal mobile platform.
In some illustrative examples, number of external mobile platforms 400 may be referred to as a number of drivable external mobile platforms. Similarly, in some cases, number of internal mobile platforms 402 may be referred to as a number of drivable internal mobile platforms. In other illustrative examples, number of external mobile platforms 400 and number of internal mobile platforms 402 may be referred to as a number of autonomously drivable external mobile platforms and a number of autonomously drivable internal mobile platforms, respectively.
External mobile platform 404 may be an example of one of number of external mobile platforms 400 and internal mobile platform 406 may be an example of one of number of internal mobile platforms 402. External mobile platform 404 and internal mobile platform 406 may be platforms that are autonomously drivable. Depending on the implementation, each of external mobile platform 404 and internal mobile platform 406 may be configured to autonomously drive across floor 300 on its own or with the assistance of one of plurality of autonomous vehicles 306 from Figure 3.
As one illustrative example, without limitation, external mobile platform 404 may be autonomously driven across floor 300 using a corresponding one of plurality of autonomous vehicles 306. In some illustrative examples, external mobile platform 404 and this corresponding one of plurality of autonomous vehicles 306 may be integrated with each other. For example, the autonomous vehicle may be fixedly associated with external mobile platform 404. An entire load of external mobile platform 404 may be transferable to the autonomous vehicle such that driving the autonomous vehicle across floor 300 drives external mobile platform 404 across floor 300.
External mobile platform 404 may be driven from, for example, without limitation, holding area 318 to a position relative to exterior 234 of fuselage assembly 114 to perform one or more operations 124 in Figure 1. As depicted, at least one external robotic device 408 may be associated with external mobile platform 404. In this illustrative example, external robotic device 408 may be considered part of external mobile platform 404. In other illustrative examples, external robotic device 408 may be considered a separate component that is physically attached to external mobile platform 404. External robotic device 408 may take the form of, for example, without limitation, a robotic arm.

External robotic device 408 may have first end effector 410. Any number of tools may be associated with first end effector 410. These tools may include, for example, without limitation, at least one of a drilling tool, a fastener insertion tool, a fastener installation tool, an inspection tool, or some other type of tool. In particular, any number of fastening tools may be associated with first end effector 410.
As depicted, first tool 411 may be associated with first end effector 410. In one illustrative example, first tool 411 may be any tool that is removably associated with first end effector 410. In other words, first tool 411 associated with first end effector 410 may be changed as various operations need to be performed. For example, without limitation, first tool 411 may take the form of one type of tool, such as a drilling tool, to perform one type of operation. This tool may then be exchanged with another type of tool, such as a fastener insertion tool, to become the new first tool 411 associated with first end effector 410 to perform a different type of operation.
In one illustrative example, first tool 411 may take the form of first riveting tool 412. First riveting tool 412 may be used to perform riveting operations. In some illustrative examples, a number of different tools may be exchanged with first riveting tool 412 and associated with first end effector 410. For example, without limitation, first riveting tool 412 may be exchangeable with a drilling tool, a fastener insertion tool, a fastener installation tool, an inspection tool, or some other type of tool.
External mobile platform 404 may be autonomously driven across floor 300 and positioned relative to assembly fixture 324 in Figure 3 supporting fuselage assembly 114 to position first end effector 410 and first tool 411 associated with first end effector 410 relative to one of plurality of panels 120. For example, external mobile platform 404 may be autonomously driven across floor 300 to external position 414 relative to assembly fixture 324. In this manner, first tool 411 carried by external mobile platform 404 may be macro-positioned using external mobile platform 404.
Once in external position 414, first end effector 410 may be autonomously controlled using at least external robotic device 408 to position first tool associated with first end effector 410 relative to a particular location on an exterior-facing side of one of plurality of panels 120. In this manner, first tool 411 may be micro-positioned relative to the particular location.
Internal mobile platform 406 may be located on second tower 336 in Figure 3 when internal mobile platform 406 is not in use. When interface 342 described in Figure 3 is formed between second tower 336 and assembly fixture 324, internal mobile platform 406 may be driven from second tower 336 into interior 236 of fuselage assembly 114 and used to perform one or more of operations 124. In one illustrative example, internal mobile platform 406 may have a movement system that allows internal mobile platform 406 to move from second tower 336 onto a floor inside fuselage assembly 114.
At least one internal robotic device 416 may be associated with internal mobile platform 406. In this illustrative example, internal robotic device 416 may be considered part of internal mobile platform 406. In other illustrative examples, internal robotic device 416 may be considered a separate component that is physically attached to internal mobile platform 406. Internal robotic device 416 may take the form of, for example, without limitation, a robotic arm.
Internal robotic device 416 may have second end effector 418. Any number of tools may be associated with second end effector 418. For example, without limitation, at least one of a drilling tool, a fastener insertion tool, a fastener installation tool, an inspection tool, or some other type of tool may be associated with second end effector 418. In particular, any number of fastening tools may be associated with second end effector 418.
As depicted, second tool 419 may be associated with second end effector 418. In one illustrative example, second tool 419 may be any tool that is removably associated with second end effector 418. In other words, second tool 419 associated with second end effector 418 may be changed as various operations need to be performed. For example, without limitation, first tool 411 may take the form of one type of tool, such as a drilling tool, to perform one type of operation. This tool may then be exchanged with another type of tool, such as a fastener insertion tool, to become the new first tool 411 associated with first end effector 410 to perform a different type of operation.
In one illustrative example, second tool 419 may take the form of second riveting tool 420. Second riveting tool 420 may be associated with second end effector 418. Second riveting tool 420 may be used to perform riveting operations.
In some illustrative examples, a number of different tools may be exchanged with second riveting tool 420 and associated with second end effector 418. For example, without limitation, second riveting tool 420 may be exchangeable with a drilling tool, a fastener insertion tool, a fastener installation tool, an inspection tool, or some other type of tool.
Internal mobile platform 406 may be driven from second tower 336 into fuselage assembly 114 and positioned relative to interior 236 of fuselage assembly 114 to position second end effector 418 and second tool 419 associated with second end effector 418 relative to one of plurality of panels 120. In one illustrative example, internal mobile platform 406 may be autonomously driven onto one of number of floors 266 in Figure 2 into internal position 422 within fuselage assembly 114 relative to fuselage assembly 114. In this manner, second tool 419 may be macro-positioned into internal position 422 using internal mobile platform 406.
Once in internal position 422, second end effector 418 may be autonomously controlled to position second tool 419 associated with second end effector 418 relative to a particular location on an interior-facing side of one of plurality of panels 120 or an interior-facing side of one of plurality of members 122 in Figure 2 that make up support structure 121. In this manner, second tool 419 may be micro-positioned relative to the particular location.
In one illustrative example, external position 414 for external mobile platform 404 and internal position 422 for internal mobile platform 406 may be selected such that fastening process 424 may be performed at location 426 on fuselage assembly 114 using external mobile platform 404 and internal mobile platform 406.
Fastening process 424 may include any number of operations. In one illustrative example, fastening process 424 may include at least one of drilling operation 428, fastener insertion operation 430, fastener installation operation 432, inspection operation 434, or some other type of operation.
As one specific example, drilling operation 428 may be performed autonomously using first tool 411 associated with first end effector 410 of external mobile platform 404 or second tool 419 associated with second end effector 418 of internal mobile platform 406. For example, without limitation, first tool 411 or second tool 419 may take the form of a drilling tool for use in performing drilling operation 428. Drilling operation 428 may be autonomously performed using first tool 411 or second tool 419 to form hole 436 at location 426. Hole 436 may pass through at least one of two panels in plurality of panels 120, two members of a plurality of members 122, or a panel and one of plurality of members 122.
Fastener insertion operation 430 may be performed autonomously using first tool 411 associated with first end effector 410 of external mobile platform 404 or second tool 419 associated with second end effector 418 of internal mobile platform 406. Fastener insertion operation 430 may result in fastener 438 being inserted into hole 436.
Fastener installation operation 432 may then be performed autonomously using at least one of first tool 411 associated with first end effector 410 of external mobile platform 404 or second tool 419 associated with second end effector 418 of internal mobile platform 406. In one illustrative example, fastener installation operation 432 may be performed autonomously using first tool 411 in the form of first riveting tool 412 and second tool 419 in the form of second riveting tool 420 such that fastener 438 becomes rivet 442 installed at location 426. Rivet 442 may be a fully installed rivet. Rivet 442 may be one of plurality of fasteners 264 described in Figure 2.
In one illustrative example, fastener installation operation 432 may take the form of bolt-nut type installation process 433. First tool 411 associated with first end effector 410 may be used to, for example, without limitation, install bolt 435 through hole 436. Second tool 419 associated with second end effector 418 may then be used to install nut 437 over bolt 435. In some cases, installing nut 437 may include applying a torque sufficient to nut 437 such that a portion of nut 437 breaks off. In these cases, nut 437 may be referred to as a frangible collar.
In another illustrative example, fastener installation operation 432 may take the form of interference-fit bolt-type installation process 439. First tool associated with first end effector 410 may be used to, for example, without limitation, install bolt 435 through hole 436 such that an interference fit is created between bolt 435 and hole 436. Second tool 419 associated with second end effector 418 may then be used to install nut 437 over bolt 435.
In yet another illustrative example, fastener installation operation 432 may take the form of two-stage riveting process 444. Two-stage riveting process 444 may be performed using, for example, without limitation, first riveting tool 412 associated with external mobile platform 404 and second riveting tool 420 associated with internal mobile platform 406.
For example, first riveting tool 412 and second riveting tool 420 may be positioned relative to each other by external mobile platform 404 and internal mobile platform 406, respectively. For example, external mobile platform 404 and external robotic device 408 may be used to position first riveting tool 412 relative to location 426 at exterior 234 of fuselage assembly 114. Internal mobile platform 406 and internal robotic device 416 may be used to position second riveting tool 420 relative to the same location 426 at interior 236 of fuselage assembly 114.
First riveting tool 412 and second riveting tool 420 may then be used to perform two-stage riveting process 444 to form rivet 442 at location 426.
Rivet 442 may join at least two of plurality of panels 120 together, a panel in plurality of panels 120 to support structure 121 formed by plurality of members 122, or two panels in plurality of panels 120 to support structure 121.
In this example, two-stage riveting process 444 may be performed at each of plurality of locations 446 on fuselage assembly 114 to install plurality of fasteners 264 as described in Figure 2. Two-stage riveting process 444 may ensure that plurality of fasteners 264 in Figure 2 are installed at plurality of locations 446 with a desired quality and desired level of accuracy.

In this manner, internal mobile platform 406 may be autonomously driven and operated inside fuselage assembly 114 to position internal mobile platform 406 and second riveting tool 420 associated with internal mobile platform 406 relative to plurality of locations 446 on fuselage assembly 114 for performing assembly process 110 described in Figure 1. Similarly, external mobile platform 404 may be autonomously driven and operated around fuselage assembly 114 to position external mobile platform 404 and first riveting tool 412 associated with external mobile platform 404 relative to plurality of locations 446 on fuselage assembly 114 for performing operations 124.
With reference now to Figure 5, an illustration of a flow of number of utilities 146 across distributed utility network 144 from Figure 1 is depicted in the form of a block diagram in accordance with an illustrative embodiment. As depicted, number of utilities 146 may be distributed across distributed utility network 144.
Distributed utility network 144 may include, for example, without limitation, number of utility sources 148, utility fixture 150, number of towers 330, assembly fixture 324, number of external mobile platforms 400, and number of utility units 500.
In some cases, distributed utility network 144 may also include number of internal mobile platforms 402. In some illustrative examples, number of utility sources may be considered separate from distributed utility network 144.
In this illustrative example, only one of number of towers 330 may be included in distributed utility network 144 at a time. When first tower 334 is used, distributed utility network 144 may be formed when utility fixture 150 is coupled to number of utility sources 148, first tower 334 is coupled to utility fixture 150, assembly fixture 324 is coupled to first tower 334, and number of external mobile platforms 400 is coupled to number of utility units 500.
Number of utility units 500 may be associated with number of cradle fixtures 314 of assembly fixture 324 or separated from number of cradle fixtures 314.
For example, without limitation, a number of dual interfaces may be created between number of external mobile platforms 400, number of utility units 500, and number of cradle fixtures 314 using one or more dual-interface couplers.

When second tower 336 is used, distributed utility network 144 may be formed when utility fixture 150 is coupled to number of utility sources 148, second tower 336 is coupled to utility fixture 150, assembly fixture 324 is coupled to second tower 336, number of internal mobile platforms 402 is coupled to second tower 336, and number of external mobile platforms 400 is coupled to number of utility units 500, which may be associated with number of cradle fixtures 314 or separated from number of cradle fixtures 314. Number of internal mobile platforms 402 may receive number of utilities 146 through a number of cable management systems associated with second tower 336.
In this manner, number of utilities 146 may be distributed across distributed utility network 144 using a single utility fixture 150. This type of distributed utility network 144 may reduce the number of utility components, utility cables, and other types of devices needed to provide number of utilities 146 to the various components in distributed utility network 144. Further, with this type of distributed utility network 144, starting from at least utility fixture 150, number of utilities 146 may be provided completely above floor 300 of manufacturing environment in Figure 1.
The illustrative embodiments recognize and take into account that it may be desirable to have a method and system for mounting wheels to vehicles that does not require disassembly of the bases of these vehicles. As one illustrative example, it may be desirable to have a system for installing and removing wheel arm assemblies from autonomous vehicles, such as plurality of autonomous vehicles 306 in Figure 3, quickly and easily. Further, it may be desirable to have the capability to install these types of wheel arm assemblies on a vehicle, such as one of plurality of autonomous vehicles 306 in Figure 3, and remove these wheel arm assemblies for maintenance or repair without having to move the vehicle to some other location, disassemble components of the base of the vehicle, or take the vehicle out of service during the maintenance or repair.
Thus, the illustrative embodiments provide a method and apparatus for installing a wheel arm assembly at an exterior of a base of a vehicle.
Further, the illustrative embodiments provide a method and apparatus for removing a wheel arm assembly from an exterior of the base of the vehicle without requiring disassembly of any portion of the base of the vehicle.
With reference now to Figure 6, an illustration of a vehicle is depicted in the form of a block diagram in accordance with an illustrative embodiment. In this illustrative example, vehicle 600 is an example of one type of vehicle that may be used to perform operations within manufacturing environment 100 in Figure 1 or some other type of environment. In one illustrative example, vehicle 600 may take the form of autonomous vehicle 601. Autonomous vehicle 601 may be an example of one of plurality of autonomous vehicles 306 in Figure 3.
As depicted, vehicle 600 may include base 602, plurality of wheel systems 604, and plurality of retaining structures 606. In other illustrative examples, base 602 may be referred to as a platform base. Plurality of wheel systems 604 may be configured for association with base 602. In particular, plurality of wheel systems 604 may be inserted within and held by plurality of retaining structures 606, which may be associated with base 602.
As one illustrative example, plurality of retaining structures 606 may be fixedly associated with base 602. Plurality of wheel systems 604 may be installed in plurality of retaining structures 606. In particular, each of plurality of wheel systems 604 may be installed within a corresponding one of plurality of retaining structures 606.
Wheel system 608 may be an example of one of plurality of wheel systems 604. Depending on the implementation, wheel system 608 may take the form of passive wheel system 610 or drive wheel system 612.
In this illustrative example, wheel system 608 may be configured for installation in any one of plurality of retaining structures 606. For example, wheel system 608 may be installed in retaining structure 614 of plurality of retaining structures 606. In some illustrative examples, retaining structure 614 may be referred to as boss 615. Retaining structure 614 may have first end 616 and second end 618. First end 616 may be located at exterior 619 of base 602 and second end 618 may be located within interior 623 of base 602. In some cases, first end may be referred to as an outboard-facing end and second end 618 may be referred to as an inboard-facing end. In this manner, first end 616 may be referred to as externally-facing end 617 of retaining structure 614. In this manner, first end 616 may be located at or near exterior 619 of base 602, while second end 618 may be located inwards.
Wheel system 608 may be coupleable to and decoupleable from retaining structure 614 at first end 616 of retaining structure 614. As depicted, wheel system 608 may include wheel arm assembly 620, hub assembly 622, and wheel 624.
Wheel arm assembly 620 may be coupleable to and decoupleable from retaining structure 614 at first end 616 of retaining structure 614.
Wheel arm assembly 620 may be at least partially inserted within first channel 625 of retaining structure 614. First channel 625 may extend from first end 616 of retaining structure 614 to second end 618 of retaining structure 614. Wheel arm assembly 620 may be coupled to retaining structure 614 by being inserted into first channel 625 in a direction from first end 616 towards second end 618 of retaining structure 614.
Hub assembly 622 may be used to connect wheel 624 to wheel arm assembly 620. Wheel 624 may take a number of different forms, depending on the implementation. For example, without limitation, wheel 624 may take the form of one of a mecanum wheel, a holononnic wheel, an omnidirectional wheel, or some other type of wheel. In this illustrative example, wheel 624 may take the form of omnidirectional wheel 626. When wheel 624 takes the form of omnidirectional wheel 626, wheel system 608 may be referred to as omnidirectional wheel system 627.
In this illustrative example, wheel arm assembly 620 may include retainer bushing 630, sliding bushing 632, bearing 633, wheel arm 634, and plate 636.
An example of one configuration for wheel arm assembly 620 and, in particular, retainer bushing 630, sliding bushing 632, bearing 633, wheel arm 634, and plate 636 may be shown in Figure 23 described below.
Retainer bushing 630 may have first end 638 and second end 640. Further, retainer bushing 630 may have flange 642 located at first end 638 of retainer bushing 630. When wheel arm assembly 620 is coupled to retainer structure 614, second end 640 of retainer bushing 630 may be referred to as internally-facing end 641 of retainer bushing 630.
Retainer bushing 630 may have second channel 644. Second channel 644 may extend from first end 638 of retainer bushing 630 to second end 640 of retainer bushing 630.
Sliding bushing 632 may be coupled to retainer bushing 630. In particular, sliding bushing 632 may be press-fit 646 within second channel 644 of retainer bushing 630. Sliding bushing 632 may have third channel 648 that extends from first end 647 of sliding bushing 632 to second end 649 of sliding bushing 632.
Bearing 633 may be positioned at first end 638 of retainer bushing 630 and first end 647 of sliding bushing 632 such that bearing 633 overlaps first end 647 of sliding bushing 632 and at least a portion of first end 638 of retainer bushing 630.
Wheel arm 634 may be partially located within third channel 648 of sliding bushing 632. Wheel arm 634 may have first end 653 and second end 655. Wheel arm 634 may have first portion 650 at first end 653 and second portion 651 at second end 655. First portion 650 of wheel arm 634 may be located within third channel 648 of sliding bushing 632. At least one portion of second portion 651 may be larger in width than first portion 650. Consequently, second portion 651 of wheel arm may protrude externally in a direction away from first end 647 of sliding bushing 632.
In other words, second portion 651 may extend past first end 647 of sliding bushing 632 and first end 638 of retainer bushing 630. Second portion 651 may be sufficiently wide such that second portion 651 of wheel arm 634 overlaps bearing 633. In this manner, bearing 633 may be in contact with wheel arm 634 in addition to retainer bushing 630 and sliding bushing 632.
Plate 636 may be positioned at first end 653 of wheel arm 634 such that plate 636 overlaps second end 655 of sliding bushing 632 and at least partially overlaps second end 640 of retainer bushing 630. Plate 636 may be fastened to first portion 650 of wheel arm 634 at first end 653 of wheel arm 634 using set of fasteners 652.

Bearing 633 may apply first force 654 against first end 638 of retainer bushing 630. Plate 636 may apply second force 656 against second end 640 of retainer bushing 630 when plate 636 is fastened to first end 653 of wheel arm 634.
First force 654 and second force 656 may substantially prevent axial motion of wheel arm 634.
In other words, first force 654 and second force 656 may substantially prevent motion of wheel arm 634 in a direction substantially parallel to wheel axis 657.
Wheel axis 657 may be a center axis through wheel 624.
Wheel arm assembly 620 may be inserted into first channel 625 of retaining structure 614. Flange 642 of retainer bushing 630 may then be fastened to first end 616 of retaining structure 614 using number of fasteners 658. Installing number of fasteners 658 may fully mount, or couple, wheel arm assembly 620 to retaining structure 614. Hub assembly 622 and wheel 624 may then be attached to wheel arm assembly 620 to fully build and install wheel system 608. Number of fasteners may be removed to remove wheel arm assembly 620 from retaining structure 614.
As depicted, plate 636 may have greatest width 660. Greatest width 660 of plate may be less than smallest width 662 of first channel 625 of retaining structure 614 such that plate 636 may be freely movable through first channel 625 of retaining structure 614 in a direction substantially parallel to wheel axis 657.
Smallest width 664 of plate 636 may be greater than greatest width 665 of second channel 644 of retainer bushing 630 such that plate 636 may at least partially overlap second end 640 of retainer bushing 630. In this manner, plate 636 may not be freely movable through second channel 644 of retainer bushing 630 in a direction substantially parallel to wheel axis 657.
In this manner, wheel arm assembly 620, and thereby wheel system 608, may be coupleable to and decouplable from retaining structure 614, and thereby base 602 of vehicle 600, from exterior 619 of base 602. Consequently, decoupling wheel system 608 from base 602 may not require disassembly of other components associated with base 602 or other internal components of base 602. The capability to couple wheel arm assembly 620 to and decouple wheel arm assembly 620 from base 602 may allow maintenance of wheel arm assembly 620 and other components of wheel system 608 to be performed without disrupting the operation of vehicle 600.
The illustrations in Figures 1-6 are not meant to imply physical or architectural limitations to the manner in which an illustrative embodiment may be implemented.
Other components in addition to or in place of the ones illustrated may be used.
Some components may be optional. Also, the blocks are presented to illustrate some functional components. One or more of these blocks may be combined, divided, or combined and divided into different blocks when implemented in an illustrative embodiment.
For example, in some cases, more than one flexible manufacturing system may be present within manufacturing environment 100. These multiple flexible manufacturing systems may be used to build multiple fuselage assemblies within manufacturing environment 100. In other illustrative examples, flexible manufacturing system 106 may include multiple cradle systems, multiple tower systems, multiple utility systems, multiple autonomous tooling systems, and multiple pluralities of autonomous vehicles such that multiple fuselage assemblies may be built within manufacturing environment 100.
In some illustrative examples, utility system 138 may include multiple utility fixtures that are considered separate from flexible manufacturing system 106.
Each of these multiple utility fixtures may be configured for use with flexible manufacturing system 106 and any number of other flexible manufacturing systems.
Additionally, the different couplings of mobile systems in plurality of mobile systems 134 may be performed autonomously in these illustrative examples.
However, in other illustrative example, a coupling of one of plurality of mobile systems 134 to another one of plurality of mobile systems 134 may be performed manually in other illustrative examples.
Further, in other illustrative examples, one or more of plurality of mobile systems 134 may be drivable by, for example, without limitation, a human operator.
For example, without limitation, in some cases, first tower 334 may be drivable with human guidance.

With reference now to Figure 7, an illustration of an isometric view of a manufacturing environment is depicted in accordance with an illustrative embodiment. In this illustrative example, manufacturing environment 700 may be an example of one implementation for manufacturing environment 100 in Figure 1.
As depicted, manufacturing environment 700 may include holding environment 701 and assembly environment 702. Holding environment 701 may be a designated area on and over floor 703 of manufacturing environment 700 for storing plurality of flexible manufacturing systems 706 when plurality of flexible manufacturing systems 706 are not in use. Each of plurality of flexible manufacturing systems 706 may be an example of one implementation for flexible manufacturing system 106 described in Figures 1 and 3-5. In particular, each of plurality of flexible manufacturing systems 706 may be an example of one implementation for autonomous flexible manufacturing system 112 in Figure 1.
Holding environment 701 may include plurality of holding cells 704. In this illustrative example, each of plurality of holding cells 704 may be considered an example of one implementation for holding area 318 in Figure 3. In other illustrative examples, the entire holding environment 701 may be considered an example of one implementation for holding area 318 in Figure 3.
Each of plurality of flexible manufacturing systems 706 may be stored in a corresponding one of plurality of holding cells 704. In particular, each of plurality of holding cells 704 may be designated for a specific one of plurality of flexible manufacturing systems 706. However, in other illustrative examples, any one of plurality of holding cells 704 may be used for storing any one of plurality of flexible manufacturing systems 706.
As depicted, flexible manufacturing system 708 may be an example of one of plurality of flexible manufacturing systems 706. Flexible manufacturing system may include plurality of mobile systems 711, which may be an example of one implementation for plurality of mobile systems 134 in Figures 1 and 3.
Flexible manufacturing system 708 may be stored in holding cell 710 of plurality of holding cells 704. In this example, all of holding environment 701 may be considered an example of one implementation for holding area 318 in Figure 3.
However, in other examples, each of plurality of holding cells 704 in holding environment 701 may be considered an example of one implementation for holding area 318 in Figure 3.
Floor 703 of manufacturing environment 700 may be substantially smooth to allow the various components and systems of plurality of flexible manufacturing systems 706 to be autonomously driven across floor 703 of manufacturing environment 700 with ease. When one of plurality of flexible manufacturing systems 706 is ready for use, that flexible manufacturing system may be driven across floor 703 from holding environment 701 into assembly environment 702.
Assembly environment 702 may be the designated area on and above floor 703 for building fuselage assemblies. When none of plurality of flexible manufacturing systems 706 are in use, floor 703 of assembly environment 702 may be kept substantially open and substantially clear.
As depicted, assembly environment 702 may include plurality of work cells 712. In one illustrative example, each of plurality of work cells 712 may be an example of one implementation for assembly area 304 in Figure 3. Thus, each of plurality of work cells 712 may be designated for performing a fuselage assembly process, such as assembly process 110 in Figure 1, for building fuselage assembly 114 in Figure 1. In other illustrative examples, the entire assembly environment 702 may be considered an example of one implementation for assembly area 304 in Figure 3.
In this illustrative example, first portion 714 of plurality of work cells 712 may be designated for building forward fuselage assemblies, such as forward fuselage assembly 117 in Figure 1, while second portion 716 of plurality of work cells 712 may be designated for building aft fuselage assemblies, such as aft fuselage assembly 116 in Figure 1. In this manner, plurality of work cells 712 may allow multiple fuselage assemblies to be built concurrently. Depending on the implementation, the building of these fuselage assemblies may begin at the same time or at different times in plurality of work cells 712.

In one illustrative example, plurality of mobile systems 711 that belong to flexible manufacturing system 708 may be driven across floor 703 from holding cell 710 into work cell 713. Within work cell 713, plurality of mobile systems 711 may be used to build a fuselage assembly (not shown). An example of one manner in which this fuselage assembly may be built using flexible manufacturing system 708 is described in greater detail in Figures 8-18 below.
In some illustrative examples, a sensor system may be associated with one or more of plurality of work cells 712. For example, without limitation, in some cases, sensor system 718 may be associated with work cell 719 of plurality of work cells 712. Sensor data generated by sensor system 718 may be used to help drive the various mobile systems of the corresponding one of plurality of flexible manufacturing systems 706 designated for building a fuselage assembly within work cell 719.
In one illustrative example, sensor system 718 may take the form of metrology system 720.
Depending on the implementation, sensor system 718 may be optional. For example, without limitation, other sensor systems are not depicted associated with other work cells of plurality of work cells 712. Not using sensors systems such as sensor system 718 may help keep floor 703 of manufacturing environment 700 more open and clear to help the various mobile systems of plurality of flexible manufacturing systems 706 be driven more freely across floor 703.
As depicted, plurality of utility fixtures 724 may be permanently affixed to floor 703. Each of plurality of utility fixtures 724 may be an example of one implementation for utility fixture 150 in Figure 1.
Plurality of utility fixtures 724 may be interfaced with a number of utility sources (not shown in this view). These utility sources (not shown) may be, for example, without limitation, located beneath floor 703. Utility fixture 726 may be an example of one of plurality of utility fixtures 724.
In this illustrative example, each of plurality of utility fixtures 724 is located in a corresponding one of plurality of work cells 712. Any one of plurality of flexible manufacturing systems 706 may be driven towards and interfaced with any one of plurality of utility fixtures 724. In this manner, plurality of utility fixtures 724 may be used to provide one or more utilities to plurality of flexible manufacturing systems 706.
Referring now to Figures 8-18, illustrations of the building of a fuselage assembly within manufacturing environment 700 from Figure 7 are depicted in accordance with an illustrative embodiment. In Figures 8-18, flexible manufacturing system 708 from Figure 7 may be used to build a fuselage assembly. The building of the fuselage assembly may be performed within any one of plurality of work cells 712 in Figure 7. For example, without limitation, the building of the fuselage assembly may be performed within one of the work cells in second portion 716 of plurality of work cells 712 in Figure 7.
Turning now to Figure 8, an illustration of an isometric view of a first tower coupled to utility fixture 726 from Figure 7 is depicted in accordance with an illustrative embodiment. In this illustrative example, first tower 800 may be coupled to utility fixture 726. First tower 800 may be an example of one of plurality of mobile systems 711 of flexible manufacturing system 708 in Figure 7. In particular, first tower 800 may be an example of one implementation for first tower 334 in Figure 3.
First tower 800 may be at least one of electrically and physically coupled to utility fixture 726 such that interface 802 is formed between first tower 800 and utility fixture 726. Interface 802 may be an example of one implementation for interface 342 in Figure 3.
As depicted, first tower 800 may have base structure 804. Base structure 804 may include top platform 806 and bottom platform 807. In some cases, top platform 806 and bottom platform 807 may be referred to as top platform level and a bottom platform level, respectively. Top platform 806 may be used to provide a human operator with access to a top floor of a fuselage assembly (not shown), such as a passenger floor inside the fuselage assembly. Bottom platform 807 may be used to provide a human operator with access to a bottom floor of the fuselage assembly (not shown), such as a cargo floor inside the fuselage assembly.

In this illustrative example, walkway 808 may provide access from a floor, such as floor 703 in Figure 7, to bottom platform 807. Walkway 810 may provide access from bottom platform 807 to top platform 806. Railing 812 is associated with top platform 806 for the protection of a human operator moving around on top platform 806. Railing 814 is associated with bottom platform 807 for the protection of a human operator moving around on bottom platform 807.
First tower 800 may be autonomously driven across floor 703 using autonomous vehicle 816. Autonomous vehicle 816 may be an automated guided vehicle (AGV) in this example. Autonomous vehicle 816 may be an example of one of plurality of autonomous vehicles 306 in Figure 3. As depicted, autonomous vehicle 816 may be used to drive first tower 800 from holding environment 701 in Figure 7 to selected tower position 818 relative to utility fixture 726.
Selected tower position 818 may be an example of one implementation for selected tower position 338 in Figure 3.
Once first tower 800 has been autonomously driven into selected tower position 818, first tower 800 may autonomously couple to utility fixture 726.
In particular, first tower 800 may electrically and physically couple to utility fixture 726 autonomously to form interface 802. This type of coupling may enable a number of utilities to flow from utility fixture 726 to first tower 800. In this manner, first tower 800 and utility fixture 726 may establish at least a portion of a distributed utility network, similar to distributed utility network 144 described in Figures 1 and 5.
With reference now to Figure 9, an illustration of an isometric view of a cradle system is depicted in accordance with an illustrative embodiment. In this illustrative example, cradle system 900 may be an example of one implementation for cradle system 308 in Figure 3. Further, cradle system 900 may be an example of one of plurality of mobile systems 711 of flexible manufacturing system 708 in Figure 7. In this manner, cradle system 900 may be an example of one of plurality of mobile systems 711 that are stored in holding cell 710 in Figure 7.
As depicted, cradle system 900 may be comprised of number of fixtures 903.
Number of fixtures 903 may be an example of one implementation for number of fixtures 313 in Figure 3. Number of fixtures 903 may include number of cradle fixtures 902 and fixture 904. Number of cradle fixtures 902 may be an example of one implementation for number of cradle fixtures 314 in Figure 3.
Number of cradle fixtures 902 may include cradle fixture 906, cradle fixture 908, and cradle fixture 910. Fixture 904 may be fixedly associated with cradle fixture 906. In this illustrative example, fixture 904 may be considered part of cradle fixture 906. However, in other illustrative examples, fixture 904 may be considered a separate fixture from cradle fixture 906.
As depicted, cradle fixture 906, cradle fixture 908, and cradle fixture 910 have base 912, base 914, and base 916, respectively. Number of retaining structures may be associated with base 912. Number of retaining structures 920 may be associated with base 914. Number of retaining structures 922 may be associated with base 916. Each of number of retaining structures 918, number of retaining structures 920, and number of retaining structures 922 may be an example of an implementation for number of retaining structures 326 in Figure 3.
Each retaining structure in number of retaining structures 918, number of retaining structures 920, and number of retaining structures 922 may have a curved shape that substantially matches a curvature of a corresponding fuselage section to be received by the retaining structure. Retaining structure 923 may be an example of one of number of retaining structures 920. As depicted, retaining structure 923 may have curved shape 925.
Curved shape 925 may be selected such that curved shape 925 substantially matches a curvature of a corresponding keel panel (not shown) that is to be engaged with retaining structure 923. More specifically, retaining structure 923 may have a substantially same radius of curvature as a corresponding keel panel (not shown) that is to be engaged with retaining structure 923.
In this illustrative example, plurality of stabilizing members 924, plurality of stabilizing members 926, and plurality of stabilizing members 928 may be associated with base 912, base 914, and base 916, respectively. Plurality of stabilizing members 924, plurality of stabilizing members 926, and plurality of stabilizing members 928 may be used to stabilize base 912, base 914, and base 916, respectively, relative to floor 703 of manufacturing environment 700.
In one illustrative example, these stabilizing members may keep their respective bases substantially level relative to floor 703. Further, each of plurality of stabilizing members 924, plurality of stabilizing members 926, and plurality of stabilizing members 928 may substantially support their respective base until that base is to be moved to a new location within or outside of manufacturing environment 700. In one illustrative example, each stabilizing member of plurality of stabilizing members 924, plurality of stabilizing members 926, and plurality of stabilizing members 928 may be implemented using a hydraulic leg.
Each of number of fixtures 903 may be used to support and hold a corresponding fuselage section (not shown) for a fuselage assembly (not shown) for an aircraft (not shown), such as one of plurality of fuselage sections 205 for fuselage assembly 114 for aircraft 104 in Figure 2. For example, without limitation, fixture 904 may have platform 930 associated with base 932. Platform 930 may be configured to support and hold a forward fuselage section (not shown) or an aft fuselage section (not shown) for the aircraft (not shown), depending on the implementation. The forward fuselage section (not shown) may be the portion of the fuselage assembly (not shown) that is to be closest to the nose of the aircraft (not shown). The aft fuselage section (not shown) may be the portion of the fuselage assembly (not shown) that is to be closest to the tail of the aircraft (not shown).
With reference now to Figure 10, an illustration of an isometric view of an assembly fixture formed using cradle system 900 from Figure 9 and coupled to first tower 800 from Figure 8 is depicted in accordance with an illustrative embodiment.
In this illustrative example, cradle fixture 910 is coupled to first tower 800 and cradle fixture 910, cradle fixture 906, and cradle fixture 908 are coupled to each other.
Cradle fixture 910, cradle fixture 908, and cradle fixture 906 may have been autonomously driven across floor 703 of manufacturing environment 700 to selected cradle position 1000, selected cradle position 1002, and selected cradle position 1004, respectively, using a number of corresponding autonomous vehicles (not shown), such as number of corresponding autonomous vehicles 316 from Figure 3.

Driving cradle fixture 906 may also cause fixture 904 to be driven when fixture 904 is part of cradle fixture 906 as shown. Selected cradle position 1000, selected cradle position 1002, and selected cradle position 1004 may be an example of one implementation for number of selected cradle positions 320 in Figure 3.
After driving cradle fixture 910, cradle fixture 908, and cradle fixture 906 to selected cradle position 1000, selected cradle position 1002, and selected cradle position 1004, respectively, the number of corresponding autonomous vehicles (not shown) may be autonomously driven away. In other illustrative examples, the number of corresponding autonomous vehicles (not shown) may be integrated as part of cradle fixture 910, cradle fixture 908, and cradle fixture 906.
Selected cradle position 1000 may be a position relative to selected tower position 818 of first tower 800. When cradle fixture 910 is in selected cradle position 1000 relative to first tower 800, cradle fixture 910 may be electrically and physically coupled to first tower 800 to form interface 1006. In some cases, cradle fixture 910 may be coupled to first tower 800 autonomously to form interface 1006. In one illustrative example, interface 1006 may be formed by autonomously coupling cradle fixture 910 to first tower 800. Interface 1006 may be an electrical and physical interface that enables a number of utilities that are flowing from utility fixture 726 to first tower 800 to also flow to cradle fixture 910. In this manner, interface 1006 may be formed by autonomously coupling a number of utilities between cradle fixture 910 and first tower 800. Interface 1006 may be an example of one implementation for interface 340 in Figure 3. In this illustrative example, cradle fixture 910, being coupled to first tower 800, may be referred to as primary cradle fixture 1011.
Further, as depicted, cradle fixture 906, cradle fixture 908, and cradle fixture 910 may be coupled to each other. In particular, cradle fixture 908 may be coupled to cradle fixture 910 to form interface 1008. Similarly, cradle fixture 906 may be coupled to cradle fixture 908 to form interface 1010. In one illustrative example, both interface 1008 and interface 1010 may be formed by autonomously coupling these cradle fixtures to each other.

In particular, interface 1008 and interface 1010 may take the form of electrical and physical interfaces that enable the number of utilities to flow from cradle fixture 910, to cradle fixture 908, and to cradle fixture 906. In this manner, interface 1008 may be formed by autonomously coupling the number of utilities between cradle fixture 910 and cradle fixture 908 and interface 1010 may be formed by autonomously coupling the number of utilities between cradle fixture 908 and cradle fixture 906. In this manner, number of utilities 146 may be autonomously coupled between adjacent cradle fixtures in number of cradle fixtures 314.
Thus, when utility fixture 726, first tower 800, cradle fixture 910, cradle fixture 908, and cradle fixture 906 are all coupled in series as described above, the number of utilities may be distributed downstream from utility fixture 726 to first tower 800, cradle fixture 910, cradle fixture 908, and cradle fixture 906. In this illustrative example, any utilities that flow to cradle fixture 906 may also be distributed to fixture 904.
Any number of coupling units, structural members, connection devices, cables, other types of elements, or combination thereof may be used to form interface 1008 and interface 1010. Depending on the implementation, interface and interface 1010 may take the form of coupling units that both physically and electrically connect cradle fixture 910, cradle fixture 908, and cradle fixture 906 to each other. In other illustrative examples, interface 1008 and interface 1010 may be implemented in some other manner.
When cradle fixture 910, cradle fixture 908, and cradle fixture 906 are in selected cradle position 1000, selected cradle position 1002, and selected cradle position 1004, respectively, and coupled to each other, these cradle fixtures together form assembly fixture 1012. Assembly fixture 1012 may be an example of one implementation for assembly fixture 324 in Figure 3. In this manner, interface between first tower 800 and cradle fixture 910 may also be considered an electrical and physical interface between first tower 800 and assembly fixture 1012.
With reference now to Figure 11, an illustration of an isometric view of one stage in the assembly process for building a fuselage assembly that is being supported by assembly fixture 1012 from Figure 10 is depicted in accordance with an illustrative embodiment. In this illustrative example, assembly fixture 1012 may support fuselage assembly 1100 as fuselage assembly 1100 is built on assembly fixture 1012.
Fuselage assembly 1100 may be an aft fuselage assembly that is an example of one implementation for aft fuselage assembly 116 in Figure 1. Fuselage assembly 1100 may be partially assembled in this illustrative example.
Fuselage assembly 1100 may be at an early stage of assembly in this example.
At this stage of the assembly process, fuselage assembly 1100 includes end panel 1101 and plurality of keel panels 1102. End panel 1101 may have a tapered cylindrical shape in this illustrative example. In this manner, one portion of end panel 1101 may form part of the keel 1105 for fuselage assembly 1100, another portion of end panel 1101 may form part of the sides (not fully shown) for fuselage assembly 1100, and yet another portion of end panel 1101 may form part of a crown (not fully shown) for fuselage assembly 1100.
Further, as depicted, bulkhead 1103 may be associated with end panel 1101.
Bulkhead 1103 may be a pressure bulkhead. Bulkhead 1103 may be an example of one implementation for bulkhead 272 in Figure 2.
Plurality of keel panels 1102 include keel panel 1104, keel panel 1106, and keel panel 1108. End panel 1101 and plurality of keel panels 1102 have been engaged with assembly fixture 1012. In particular, end panel 1101 has been engaged with fixture 904. Keel panel 1104, keel panel 1106, and keel panel have been engaged with cradle fixture 906, cradle fixture 908, and cradle fixture 910, respectively.
In one illustrative example, end panel 1101 is first engaged with fixture 904 with keel panel 1104, keel panel 1106, and keel panel 1108 then being successively engaged with cradle fixture 906, cradle fixture, 908, and cradle fixture 910, respectively. In this manner, keel 1105 of fuselage assembly 1100 may be assembled in a direction from the aft end of fuselage assembly 1100 to the forward end of fuselage assembly 1100.

Each of cradle fixture 906, cradle fixture 908, and cradle fixture 910 may be at least one of autonomously or manually adjusted, as needed, to accommodate plurality of keel panels 1102 such that fuselage assembly 1100 may be built to meet outer mold line requirements and inner mold line requirements within selected tolerances. In some cases, at least one of cradle fixture 906, cradle fixture 908, and cradle fixture 910 may have at least one retaining structure that can be adjusted to adapt to the shifting of fuselage assembly 1100 during the assembly process due to increased loading as fuselage assembly 1100 is built.
As depicted, members 1111 may be associated with end panel 1101 and plurality of keel panels 1102. Members 1111 may include frames and stringers in this illustrative example. However, depending on the implementation, members may also include, without limitation, stiffeners, stanchions, intercostal structural members, connecting members, other types of structural members, or some combination thereof. The connecting members may include, for example, without limitation, shear clips, ties, splices, intercostal connecting members, other types of mechanical connecting members, or some combination thereof.
The portion of members 1111 attached to end panel 1101 may form support section 1110. The portions of members 1111 attached to keel panel 1104, keel panel 1106, and keel panel 1108 may form support section 1112, support section 1114, and support section 1116, respectively.
In this illustrative example, end panel 1101 may form fuselage section 1118 for fuselage assembly 1100. Each of keel panel 1104, keel panel 1106, and keel panel 1108 may form a portion of fuselage section 1120, fuselage section 1122, and fuselage section 1124, respectively, for fuselage assembly 1100. Fuselage section 1118, fuselage section 1120, fuselage section 1122, and fuselage section 1124 may together form plurality of fuselage sections 1125 for fuselage assembly 1100.
Each of fuselage section 1118, fuselage section 1120, fuselage section 1122, and fuselage section 1124 may be an example of one implementation for fuselage section 207 in Figure 2.

End panel 1101 and plurality of keel panels 1102 may be temporarily connected together using temporary fasteners such as, for example, without limitation, tack fasteners. In particular, end panel 1101 and plurality of keel panels 1102 may be temporarily connected to each other as each of the panels is engaged with assembly fixture 1012 and other panels.
For example, without limitation, coordination holes (not shown) may be present at the edges of end panel 1101 and each of plurality of keel panels 1102. In some cases, a coordination hole may pass through a panel and at least one of members 1111 associated with the panel. Engaging one panel with another panel may include aligning these coordination holes such that temporary fasteners, such as tack fasteners, may be installed in these coordination holes. In some cases, engaging one panel with another panel may include aligning a coordination hole through one panel with a coordination hole through one of members 1111 associated with another panel.
In yet another illustrative example, engaging a first panel with another panel may include aligning the edges of the two panels to form a butt splice. These two panels may then be temporarily connected together by aligning a first number of coordination holes in, for example, a splice plate, with a corresponding number of holes on the first panel and aligning a second number of coordination holes in that splice plate with a corresponding number of holes on the second panel.
Temporary fasteners may then be inserted through these aligned coordination holes to temporarily connect the first panel to the second panel.
In this manner, panels and members may be engaged with each other and temporarily connected together in a number of different ways. Once end panel and plurality of keel panels 1102 have been temporarily connected together, assembly fixture 1012 may help maintain the position and orientation of end panel 1101 and each of plurality of keel panels 1102 relative to each other.
Turning now to Figure 12, an illustration of an isometric view of another stage in the assembly process for building a fuselage assembly is depicted in accordance with an illustrative embodiment. In this illustrative example, cargo floor 1200 has been added to fuselage assembly 1100. In particular, cargo floor 1200 may be associated with plurality of keel panels 1102.
As depicted, at least a portion of cargo floor 1200 may be substantially level with bottom platform 807 of first tower 800. In particular, at least the portion of cargo floor 1200 nearest first tower 800 may be substantially aligned with bottom platform 807 of first tower 800. In this manner, a human operator (not shown) may use bottom platform 807 of first tower 800 to easily walk onto cargo floor 1200 and access interior 1201 of fuselage assembly 1100.
As depicted, first side panels 1202 and second side panels 1204 have been added to fuselage assembly 1100. First side panels 1202 and second side panels 1204 may be an example of one implementation for first side panels 224 and second side panels 226, respectively, in Figure 2. First side panels 1202, second side panels 1204, and a first and second portion of end panel 1101 may form sides of fuselage assembly 1100. In this illustrative example, plurality of keel panels 1102, end panel 1101, first side panels 1202, and second side panels 1204 may all be temporarily connected together using, for example, without limitation, tack fasteners.
First side panels 1202 may include side panel 1206, side panel 1208, and side panel 1210 that have been engaged with and temporarily connected to keel panel 1104, keel panel 1106, and keel panel 1108, respectively. Similarly, second side panels 1204 may include side panel 1212, side panel 1214, and side panel 1216 that have been engaged with and temporarily connected to keel panel 1104, keel panel 1106, and keel panel 1108, respectively. Further, both side panel 1206 and side panel 1212 have been engaged with end panel 1101.
As depicted, members 1218 may be associated with first side panels 1202.
Other members (not shown) may be similarly associated with second side panels 1204. Members 1218 may be implemented in a manner similar to members 1111. In this illustrative example, corresponding portion 1220 of members 1218 may be associated with side panel 1206. Corresponding portion 1220 of members 1218 may form support section 1222 associated with side panel 1206. Support section may be an example of one implementation for support section 238 in Figure 2.

With reference now to Figure 13, an illustration of an isometric view of another stage in the assembly process for building a fuselage assembly is depicted in accordance with an illustrative embodiment. In this illustrative example, passenger floor 1300 has been added to fuselage assembly 1100. As depicted, passenger floor 1300 may be substantially level with top platform 806 of first tower 800.
Human operator 1302 may use top platform 806 of first tower 800 to walk onto passenger floor 1300 and access interior 1201 of fuselage assembly 1100.
With reference now to Figure 14, an illustration of an isometric view of another stage in the assembly process for building a fuselage assembly is depicted in accordance with an illustrative embodiment. In this illustrative example, plurality of crown panels 1400 have been added to fuselage assembly 1100. Plurality of crown panels 1400 may be an example of one implementation for crown panels 218 in Figure 2.
In this illustrative example, plurality of crown panels 1400 may include crown panel 1402, crown panel 1404, and crown panel 1406. These crown panels along with a top portion of end panel 1101 may form crown 1407 of fuselage assembly 1100. Crown panel 1402 may be engaged with and temporarily connected to end panel 1101, side panel 1206 shown in Figure 12, side panel 1212, and crown panel 1404. Crown panel 1404 may be engaged with and temporarily connected to crown panel 1402, crown panel 1406, side panel 1208 shown in Figure 12, and side panel 1214. Further, crown panel 1406 may be engaged with and temporarily connected to crown panel 1404, side panel 1210, and side panel 1216.
Together, end panel 1101, plurality of keel panels 1102, first side panels 1202, second side panels 1204, and plurality of crown panels 1400 may form plurality of panels 1408 for fuselage assembly 1100. Plurality of panels 1408 may be an example of one implementation for plurality of panels 120 in Figure 1.
Plurality of panels 1408 may all be temporarily connected to each other such that desired compliance with outer mold line requirements and inner mold line requirements may be maintained during the building of fuselage assembly 1100.
In other words, temporarily connecting plurality of panels 1408 to each other may enable outer mold line requirements and inner mold line requirements to be met within selected tolerances during the building of fuselage assembly 1100 and, in particular, the joining of plurality of panels 1408 together.
Members (not shown) may be associated with plurality of crown panels 1400 in a manner similar to the manner in which members 1218 are associated with first side panels 1202. These members associated with plurality of crown panels 1400 may be implemented in a manner similar to members 1218 and members 1111 as shown in Figures 12-13. The various members associated with end panel 1101, plurality of keel panels 1102, plurality of crown panels 1400, first side panels 1202, and second side panels 1204 may form plurality of members 1410 for fuselage assembly 1100. When plurality of panels 1408 are joined together, plurality of members 1410 may form a support structure (not yet shown) for fuselage assembly 1100, similar to support structure 131 in Figure 1.
After plurality of crown panels 1400 have been added to fuselage assembly 1100, first tower 800 may be autonomously decoupled from assembly fixture 1012 and utility fixture 726. First tower 800 may then be autonomously driven away from utility fixture 726 using, for example, without limitation, autonomous vehicle 816 in Figure 8. In one illustrative example, first tower 800 may be autonomously driven back to holding environment 701 in Figure 7.
When first tower 800 is decoupled from assembly fixture 1012 and utility fixture 726, a gap is formed in the distributed utility network. This gap may be filled using a second tower (not shown), implemented in a manner similar to second tower 336 in Figure 3.
With reference now to Figure 15, an illustration of an isometric view of a second tower coupled to utility fixture 726 and assembly fixture 1012 supporting fuselage assembly 1100 from Figure 14 is depicted in accordance with an illustrative embodiment. In this illustrative example, second tower 1500 has been positioned relative to assembly fixture 1012 and utility fixture 726. Second tower 1500 may be an example of one implementation for second tower 336 in Figure 3.

Second tower 1500 may be autonomously driven across floor 703 using an autonomous vehicle (not shown), similar to autonomous vehicle 816 in Figure 8.

Second tower 1500 may be autonomously driven into selected tower position 1518 relative to utility fixture 726. Selected tower position 1518 may be an example of one implementation for selected tower position 338 in Figure 3. In this illustrative example, selected tower position 1518 may be substantially the same as selected tower position 818 in Figure 8.
Once second tower 1500 has been autonomously driven into selected tower position 1518, second tower 1500 may autonomously couple to utility fixture 726. In particular, second tower 1500 may electrically and physically couple to utility fixture 726 autonomously to form interface 1502. Interface 1502 may be another example of one implementation for interface 342 in Figure 3. This type of coupling may enable a number of utilities to flow from utility fixture 726 to second tower 1500.
Further, second tower 1500 may autonomously couple to cradle fixture 910, thereby autonomously coupling to assembly fixture 1012, to form interface 1505.
Interface 1505 may enable the number of utilities to flow downstream from second tower 1500. In this manner, the number of utilities may flow from second tower to cradle fixture 910, to cradle fixture 908, and then to cradle fixture 906.
In this manner, second tower 1500 may fill the gap in the distributed utility network that was created when first tower 800 in Figure 14 was decoupled from assembly fixture and utility fixture 726 and driven away.
Similar to first tower 800 in Figure 8, second tower 1500 may include base structure 1504, top platform 1506, and bottom platform 1507. However, top platform 1506 and bottom platform 1507 may be used to provide internal mobile platforms with access to interior 1201 of fuselage assembly 1100 instead of human operators.
In this illustrative example, internal mobile platform 1508 may be positioned on top platform 1506. Top platform 1506 may be substantially aligned with passenger floor 1300 such that internal mobile platform 1508 may be able to autonomously drive across top platform 1506 onto passenger floor 1300.

Similarly, an internal mobile platform (not shown in this view) may be positioned on bottom platform 1507. Bottom platform 1507 may be substantially aligned with cargo floor 1200 (not shown in this view) from Figure 12 such that this other internal mobile platform (not shown in this view) may be able to autonomously drive across bottom platform 1507 onto the cargo floor. Internal mobile platform 1508 and the other internal mobile platform (not shown in this view) may be examples of implementations for internal mobile platform 406 in Figure 4.
As depicted, internal robotic device 1510 and internal robotic device 1512 may be associated with internal mobile platform 1508. Although internal robotic device 1510 and internal robotic device 1512 are shown associated with the same internal mobile platform 1508, in other illustrative examples, internal robotic device 1510 may be associated with one internal mobile platform and internal robotic device 1512 may be associated with another internal mobile platform. Each of internal robotic device 1510 and internal robotic device 1512 may be an example of one implementation for internal robotic device 416 in Figure 4.
Internal robotic device 1510 and internal robotic device 1512 may be used to perform operations within interior 1201 of fuselage assembly 1100 for joining plurality of panels 1408. For example, without limitation, internal robotic device 1510 and internal robotic device 1512 may be used to perform fastening operations, such as riveting operations, within interior 1201 of fuselage assembly 1100.
In one illustrative example, utility box 1520 may be associated with base structure 1504. Utility box 1520 may manage the number of utilities received from utility fixture 726 through interface 1502 and may distribute these utilities into utility cables that are managed using cable management system 1514 and cable management system 1516.
As depicted in this example, cable management system 1514 may be associated with top platform 1506 and cable management system 1516 may be associated with bottom platform 1507. Cable management system 1514 and cable management system 1516 may be implemented similarly.

Cable management system 1514 may include cable wheels 1515 and cable management system 1516 may include cable wheels 1517. Cable wheels 1515 may be used to spool utility cables that are connected to internal mobile platform 1508.
For example, without limitation, cable wheels 1515 may be biased in some manner to substantially maintain a selected amount of tension in the utility cables.
This biasing may be achieved using, for example, one or more spring mechanisms.
As internal mobile platform 1508 moves away from second tower 1500 along passenger floor 1300, the utility cables may extend from cable wheels 1515 to maintain utility support to internal mobile platform 1508 and manage the utility cables such that they do not become tangled. Cable wheels 1517 may be implemented in a manner similar to cable wheels 1515.
By using cable wheels 1515 to spool the utility cables, the utility cables may be kept off of internal mobile platform 1508, thereby reducing the weight of internal mobile platform 1508 and the load applied by internal mobile platform 1508 to passenger floor 1300. The number of utilities provided to internal mobile platform 1508 may include, for example, without limitation, electricity, air, water, hydraulic fluid, communications, some other type of utility, or some combination thereof.
With reference now to Figure 16, an illustration of an isometric cutaway view of a plurality of mobile platforms performing fastening processes within interior 1201 of fuselage assembly 1100 is depicted in accordance with an illustrative embodiment.
In this illustrative example, plurality of mobile platforms 1600 may be used to perform fastening processes to join plurality of panels 1408 together.
In particular, plurality of panels 1408 may be joined together at selected locations along fuselage assembly 1100. Plurality of panels 1408 may be joined to form at least one of lap joints, butt joints, or other types of joints. In this manner, plurality of panels 1408 may be joined such that at least one of circumferential attachment, longitudinal attachment, or some other type of attachment is created between the various panels of plurality of panels 1408.
As depicted, plurality of mobile platforms 1600 may include internal mobile platform 1508 and internal mobile platform 1601. Internal mobile platform 1508 and internal mobile platform 1601 may be an example of one implementation for number of internal mobile platforms 402 in Figure 4. Internal mobile platform 1508 may be configured to move along passenger floor 1300, while internal mobile platform may be configured to move along cargo floor 1200.
As depicted, internal robotic device 1602 and internal robotic device 1604 may be associated with internal mobile platform 1601. Each of internal robotic device 1602 and internal robotic device 1604 may be an example of one implementation for internal robotic device 416 in Figure 4. Internal robotic device 1602 and internal robotic device 1604 may be similar to internal robotic device 1510 and internal robotic device 1512.
Plurality of mobile platforms 1600 may also include external mobile platform 1605 and external mobile platform 1607. External mobile platform 1605 and external mobile platform 1607 may be an example of one implementation for at least a portion of number of external mobile platforms 400 in Figure 4. External mobile platform 1605 and external mobile platform 1607 may be examples of implementations for external mobile platform 404 in Figure 4.
External robotic device 1606 may be associated with external mobile platform 1605. External robotic device 1608 may be associated with external mobile platform 1607. Each of external robotic device 1606 and external robotic device 1608 may be an example of one implementation for external robotic device 408 in Figure 4.
As depicted, external robotic device 1606 and internal robotic device 1512 may work collaboratively to install fasteners autonomously in fuselage assembly 1100. These fasteners may take the form of, for example, without limitation, at least one of rivets, interference-fit bolts, non-interference-fit bolts, or other types of fasteners or fastener systems. Similarly, external robotic device 1608 and internal robotic device 1604 may work collaboratively to install fasteners autonomously in fuselage assembly 1100. As one illustrative example, end effector 1610 of internal robotic device 1512 and end effector 1612 of external robotic device 1606 may be positioned relative to a same location 1620 on fuselage assembly 1100 to perform a fastening process at location 1620, such as fastening process 424 in Figure 4.

The fastening process may include at least one of, for example, without limitation, a drilling operation, a fastener insertion operation, a fastener installation operation, an inspection operation, or some other type of operation. The fastener installation operation may take the form of, for example, without limitation, two-stage riveting process 444 described in Figure 4, interference-fit bolt-type installation process 439 described in Figure 4, bolt-nut type installation process 433 described in Figure 4, or some other type of fastener installation operation.
In this illustrative example, autonomous vehicle 1611 may be fixedly associated with external mobile platform 1605. Autonomous vehicle 1611 may be used to drive external mobile platform 1605 autonomously. For example, autonomous vehicle 1611 may be used to autonomously drive external mobile platform 1605 across floor 703 of manufacturing environment 700 relative to assembly fixture 1012.
Similarly, autonomous vehicle 1613 may be fixedly associated with external mobile platform 1607. Autonomous vehicle 1613 may be used to drive external mobile platform 1607 autonomously. For example, autonomous vehicle 1613 may be used to autonomously drive external mobile platform 1607 across floor 703 of manufacturing environment 700 relative to assembly fixture 1012.
By being fixedly associated with external mobile platform 1605 and external mobile platform 1607, autonomous vehicle 1611 and autonomous vehicle 1613 may be considered integral to external mobile platform 1605 and external mobile platform 1607, respectively. However, in other illustrative examples, these autonomous vehicles may be independent of the external mobile platforms in other illustrative examples.
Once all fastening processes have been completed for fuselage assembly 1100, internal mobile platform 1508 and internal mobile platform 1601 may be autonomously driven across passenger floor 1300 back onto top platform 1506 and bottom platform 1507, respectively, of second tower 1500. Second tower 1500 may then be autonomously decoupled from both utility fixture 726 and assembly fixture 1012. Autonomous vehicle 1614 may then be used to autonomously drive or move second tower 1500 away.
In this illustrative example, building of fuselage assembly 1100 may now be considered completed for this stage in the overall assembly process for the fuselage.
Consequently, assembly fixture 1012 may be autonomously driven across floor to move fuselage assembly 1100 to some other location. In other illustrative examples, first tower 800 from Figure 8 may be autonomously driven back into selected tower position 818 in Figure 8 relative to utility fixture 726. First tower 800 from Figure 8 may then be autonomously recoupled to utility fixture 726 and assembly fixture 1012. First tower 800 from Figure 8 may enable a human operator (not shown) to access interior 1201 of fuselage assembly 1100 to perform other operations including, but not limited to, at least one of inspection operations, fastening operations, system installation operations, or other types of operations.
System installation operations may include operations for installing systems such as, for example, without limitation, at least one of a fuselage utility system, an air conditioning system, interior panels, electronic circuitry, some other type of system, or some combination thereof.
With reference now to Figure 17, an illustration of a cross-sectional view of flexible manufacturing system 708 performing operations on fuselage assembly from Figure 16 is depicted in accordance with an illustrative embodiment. In this illustrative example, a cross-sectional view of fuselage assembly 1100 from Figure 16 is depicted taken in the direction of lines 17-17 in Figure 16.
As depicted, internal mobile platform 1508 and internal mobile platform 1601 are performing operations within interior 1201 of fuselage assembly 1100.
External mobile platform 1605 and external mobile platform 1607 are performing assembly operations along exterior 1700 of fuselage assembly 1100.
In this illustrative example, external mobile platform 1605 may be used to perform operations along portion 1702 of exterior 1700 between axis 1704 and axis 1706 at first side 1710 of fuselage assembly 1100. External robotic device 1606 of external mobile platform 1605 may work collaboratively with internal robotic device 1510 of internal mobile platform 1508 to perform fastening processes.
Similarly, external mobile platform 1607 may be used to perform operations along portion 1708 of exterior 1700 of fuselage assembly 1100 between axis and axis 1706 at second side 1712 of fuselage assembly 1100. External robotic device 1608 of external mobile platform 1607 may work collaboratively with internal robotic device 1604 of internal mobile platform 1601 to perform fastening processes.
Although external mobile platform 1605 is depicted as being located at first side 1710 of fuselage assembly 1100, external mobile platform 1605 may be autonomously driven by autonomous vehicle 1611 to second side 1712 of fuselage assembly 1100 to perform operations along portion 1711 of exterior 1700 of fuselage assembly 1100 between axis 1704 and axis 1706. Similarly, external mobile platform 1607 may be autonomously driven by autonomous vehicle 1613 to second side 1712 of fuselage assembly 1100 to perform operations along portion 1713 of exterior of fuselage assembly 1100 between axis 1704 and axis 1706.
Although not shown in this illustrative example, an external mobile platform similar to external mobile platform 1605 may have an external robotic device configured to work collaboratively with internal robotic device 1512 of internal mobile platform 1508 at second side 1712 of fuselage assembly 1100. Similarly, an external mobile platform similar to external mobile platform 1607 may have an external robotic device configured to work collaboratively with internal robotic device 1602 of internal mobile platform 1601 at first side 1710 of fuselage assembly 1100.
These four different external mobile platforms and two internal mobile platforms may be controlled such that the operations performed by internal mobile platform 1508 located on passenger floor 1300 may occur at a different location with respect to the longitudinal axis of fuselage assembly 1100 than the operations performed by internal mobile platform 1601 located on cargo floor 1200. The four external mobile platforms may be controlled such that the two external mobile platforms located on the same side of fuselage assembly 1100 do not collide or impede one another. The two external mobile platforms located at the same side of fuselage assembly 1100 may be unable to occupy the same footprint in this illustrative example.
In this illustrative example, external mobile platform 1605 may autonomously couple to assembly fixture 1012 to form interface 1722 such that a number of utilities may flow from assembly fixture 1012 to external mobile platform 1605. In other words, the number of utilities may be autonomously coupled between external mobile platform 1605 and assembly fixture 1012 through interface 1722. In particular, external mobile platform 1605 has been coupled to cradle fixture 910 through interface 1722.
Similarly, external mobile platform 1607 may autonomously couple to assembly fixture 1012 to form interface 1724 such that a number of utilities may flow from assembly fixture 1012 to external mobile platform 1607. In other words, the number of utilities may be autonomously coupled between external mobile platform 1607 and assembly fixture 1012 through interface 1724. In particular, external mobile platform 1607 has been coupled to cradle fixture 910 through interface 1724.
As operations are performed along fuselage assembly 1100 by external mobile platform 1605, external mobile platform 1607, and any other external mobile platforms, these external mobile platforms may be coupled to and decoupled from assembly fixture 1012 as needed. For example, external mobile platform 1607 may decouple from cradle fixture 910 as external mobile platform 1607 moves aftward along fuselage assembly 1100 such that external mobile platform 1607 may then autonomously couple to cradle fixture 908 (not shown) from Figures 9-16.
Further, these external mobile platforms may be coupled to and decoupled from assembly fixture 1012 to avoid collisions and prevent the external mobile platforms from impeding each other during maneuvering of the external mobile platforms relative to assembly fixture 1012 and fuselage assembly 1100.
As depicted, autonomous vehicle 1714 is shown positioned under the assembly fixture 1012 formed by cradle system 900. In this illustrative example, autonomous vehicle 1714, autonomous vehicle 1611, and autonomous vehicle 1613 may have omnidirectional wheels 1716, omnidirectional wheels 1718, and omnidirectional wheels 1720, respectively. In some illustrative examples, metrology system 1726 may be used to help position external mobile platform 1605 and external mobile platform 1607 relative to fuselage assembly 1100.
Turning now to Figure 18, an illustration of an isometric view of a fully built fuselage assembly is depicted in accordance with an illustrative embodiment.
In this illustrative example, fuselage assembly 1100 may be considered completed when plurality of panels 1408 have been fully joined.
In other words, all fasteners needed to join together plurality of panels 1408 have been fully installed. With plurality of panels 1408 joined together, support structure 1800 may be fully formed. Support structure 1800 may be an example of one implementation for support structure 121 in Figure 1. Fuselage assembly 1100, which is an aft fuselage assembly, may now be ready for attachment to a corresponding middle fuselage assembly (not shown) and forward fuselage assembly (not shown).
As depicted, autonomous vehicles (not shown in this view), similar to autonomous vehicle 1614 shown in Figure 16, may be positioned under base 912 of cradle fixture 906, base 914 of cradle fixture 908, and base 916 of cradle fixture 910, respectively. Autonomous vehicles, such as number of corresponding autonomous vehicles 316 in Figure 3, may lift up base 912, base 914, and base 916, respectively, such that plurality of stabilizing members 924, plurality of stabilizing members 926, and plurality of stabilizing members 928, respectively, no longer contact the floor.
These autonomous vehicles (not shown) may then autonomously drive cradle system 900 carrying fuselage assembly 1100 that has been fully built away from assembly environment 702 in Figure 7 and, in some cases, away from manufacturing environment 700 in Figure 7. Computer-controlled movement of these autonomous vehicles (not shown) may ensure that number of cradle fixtures 902 maintain their positions relative to each other as fuselage assembly 1100 is being moved.
With reference now to Figure 19, an illustration of an isometric view of fuselage assemblies being built within manufacturing environment 700 is depicted in accordance with an illustrative embodiment. In this illustrative example, plurality of fuselage assemblies 1900 are being built within plurality of work cells 712 in manufacturing environment 700.
Plurality of fuselage assemblies 1900 may include plurality of forward fuselage assemblies 1901 being built in first portion 714 of plurality of work cells 712 and plurality of aft fuselage assemblies 1902 being built in second portion 716 of plurality of work cells 712. Each of plurality of fuselage assemblies 1900 may be an example of one implementation for fuselage assembly 114 in Figure 1.
As depicted, plurality of fuselage assemblies 1900 are being built concurrently.
However, plurality of fuselage assemblies 1900 are at different stages of assembly in this illustrative example.
Forward fuselage assembly 1904 may be an example of one of plurality of forward fuselage assemblies 1901. Forward fuselage assembly 1904 may be an example of one implementation for forward fuselage assembly 117 in Figure 1.
Aft fuselage assembly 1905 may be an example of one of plurality of aft fuselage assemblies 1902. Aft fuselage assembly 1905 may be an example of one implementation for aft fuselage assembly 116 in Figure 1. In this illustrative example, aft fuselage assembly 1905 may be at an earlier stage of assembly than forward fuselage assembly 1904.
Aft fuselage assembly 1906, which may be another example of an implementation for aft fuselage assembly 116 in Figure 1, may be a fuselage assembly with all panels joined. As depicted, aft fuselage assembly 1906 is being autonomously driven to some other location for a next stage in the overall fuselage and aircraft manufacturing process.
As described above, aft fuselage assembly 1905 may be partially assembled.
In this illustrative example, aft fuselage assembly 1905 has keel 1910, end panel 1911, and first side 1912. End panel 1911 may form an end fuselage section of aft fuselage assembly 1905. As depicted, side panel 1914 may be added to aft fuselage assembly 1905 to build a second side of aft fuselage assembly 1905.

Forward fuselage assembly 1915 may be another example of one of plurality of forward fuselage assemblies 1901. In this illustrative example, forward fuselage assembly 1915 has keel 1916 and end panel 1918. End panel 1918 may form an end fuselage section of forward fuselage assembly 1915. As depicted, side panel 1920 may be added to forward fuselage assembly 1915 to begin building a first side of forward fuselage assembly 1915.
With reference now to Figure 20, an illustration of an isometric view of a portion of an autonomous vehicle is depicted in accordance with an illustrative embodiment. In this illustrative example, autonomous vehicle 2000 may be an example of one implementation for one of plurality of autonomous vehicles 306 in Figure 3. Further, autonomous vehicle 2000 may be an example of one implementation for autonomous vehicle 601 in Figure 1.
As depicted, autonomous vehicle 2000 may have base 2001. Plurality of wheel systems 2002 may be associated with base 2001. Base 2001 and plurality of wheel systems 2002 may be examples of implementations for base 602 and plurality of wheel systems 604, respectively, in Figure 6.
Plurality of wheel systems 2002 may include wheel system 2004 and wheel system 2006. In this illustrative example, wheel system 2004 may take the form of passive wheel system 2005 and wheel system 2006 may take the form of drive wheel system 2007. Passive wheel system 2005 and drive wheel system 2007 may be examples of implementations for passive wheel system 610 and drive wheel system 612 in Figure 6.
Wheel system 2004 may include omnidirectional wheel 2008 and wheel system 2006 may include omnidirectional wheel 2010. Omnidirectional wheel 2008 and omnidirectional wheel 2010 may be examples of implementations for omnidirectional wheel 626 in Figure 6.
In this illustrative example, wheel system 2004 may be coupleable to and decoupleable from base 2001 of vehicle 2000 at exterior 2012. Similarly, wheel system 2006 may be coupleable to and decoupleable from base 2001 of vehicle 2000 at exterior 2012. Each of wheel system 2004 and wheel system 2006 may include a wheel arm assembly (not shown in this view) implemented in a manner similar to wheel arm assembly 620 in Figure 6.
Turning now to Figures 21-23, illustrations of wheel system 2006 from Figure 20 are depicted in accordance with an illustrative embodiment. In Figure 21, an illustration of an enlarged isometric view of wheel system 2006 from Figure 20 without omnidirectional wheel 2010 is depicted in accordance with an illustrative embodiment. In this illustrative example, an enlarged view of wheel system from Figure 20 is depicted taken in the direction of lines 21-21 in Figure 20 without omnidirectional wheel 2010 in Figure 20. As depicted, portion 2100 of base 2001 is shown in phantom view such that wheel motor 2102 may be seen.
In this illustrative example, wheel system 2006 may include wheel arm assembly 2104 and hub assembly 2105. Wheel arm assembly 2104 and hub assembly 2105 may be examples of implementations for wheel arm assembly 620 and hub assembly 622 in Figure 2. Wheel arm assembly 2104 may include retainer bushing 2106 and wheel arm 2108. Retainer bushing 2106 is mounted to base 2001 by number of fasteners 2110. Number of fasteners 2110 may be an example of one implementation for number of fasteners 658 in Figure 6.
As depicted, wheel arm axis 2112 and wheel axis 2114 may pass through wheel arm assembly 2104. Wheel arm axis 2112 may be a geometric center axis through wheel arm 2108. Wheel axis 2114 may be a center axis through omnidirectional wheel 2010 in Figure 20 and hub assembly 2105.
Wheel arm 2108 may include first portion 2116 and second portion 2117. First portion 2116 of wheel arm 2108 may be attached to damper 2118. As depicted, damper 2118 may be attached to base 2001 directly. Damper 2118 may transfer forces applied to omnidirectional wheel 2010 in Figure 20 during operation of autonomous vehicle 2000 to base 2001. In particular, damper 2118 may be integrated with a hydraulic system (not shown). Second portion 2117 of wheel arm 2108 may be coupled to base 2001 through retainer bushing 2106.
Turning now to Figure 22, an illustration of a front view of wheel system 2006 from Figure 21 is depicted in accordance with an illustrative embodiment. In this illustrative example, a front view of wheel system 2006 is depicted taken in the direction of lines 22-22 in Figure 21. In this illustrative example, the attachment of first portion 2116 of wheel arm 2108 to damper 2118 may be more clearly seen.
In Figure 23, an illustration of a cross-sectional view of wheel system 2006 coupled to base 2001 of vehicle 2000 is depicted in accordance with an illustrative embodiment. In this illustrative example, a cross-sectional view of wheel system 2006 from Figure 21 is depicted taken in the direction of lines 23-23 in Figure 23.
As depicted, in addition to retainer bushing 2106 and wheel arm 2108, wheel arm assembly 2104 may include sliding bushing 2300, plate 2302, set of fasteners 2304, and bearing 2306. Sliding bushing 2300, plate 2302, set of fasteners 2304, and bearing 2306 may be examples of implementations for sliding bushing 632, plate 636, set of fasteners 652, and bearing 633, respectively, in Figure 6.
In this illustrative example, retaining structure 2308 may be seen. Retaining structure 2308 may be integrated with base 2001 in this example. Retaining structure 2308 may be an example of one implementation for retaining structure in Figure 6. As depicted, retaining structure 2308 may have first end 2310, second end 2312, and first channel 2314 that extends from first end 2310 to second end 2312. First end 2310, second end 2312, and first channel 2314 may be examples of implementations for first end 616, second end 618, and first channel 625 in Figure 6.
Retainer bushing 2106 may be located within first channel 2314. Retainer bushing 2106 has first end 2316, second end 2318, and second channel 2320 that extends from first end 2316 to second end 2318. First end 2316, second end 2318, and second channel 2320 may be examples of implementations for first end 638, second end 640, and second channel 644 in Figure 6. Retainer bushing 2106 may have flange 2315 at first end 2316 of retainer bushing 2106. Flange 2315 may be an example of one implementation for flange 642 in Figure 6.
Sliding bushing 2300 may be press-fit within second channel 2320 of retainer bushing 2106. Sliding bushing 2300 may have first end 2322, second end 2324, and third channel 2326 that extends from first end 2322 to second end 2324. First end 2322, second end 2324, and third channel 2326 may be examples of implementations for first end 647, second end 649, and third channel 648, respectively, in Figure 6.
Wheel arm 2108 may be located with sliding bushing 2300. Wheel arm 2108 may have first end 2328 and second end 2330. Wheel arm 2108 may have first portion 2332 located at first end 2328 and second portion 2334 located at second end 2330. First end 2328, second end 2330, first portion 2323, and second portion 2334 may be examples of implementations for first end 653, second end 655, first portion 650, and second portion 651, respectively, from Figure 6.
First portion 2332 may be located within third channel 2326 of sliding bushing 2300. Second portion 2334 may protrude outside of third channel 2326 in a direction that extends past first end 2322 of sliding bushing 2300.
In this illustrative example, bearing 2306 may be located between wheel arm 2108 and retainer bushing 2106. In particular, bearing 2306 may overlap first end 2322 of sliding bushing 2300 and at least partially overlap first end 2310 of retainer bushing 2106.
Plate 2302 may be fastened to first end 2328 of wheel arm 2108. Plate 2302 may fully overlap first end 2328 of wheel arm 2108 and second end 2324 of sliding bushing 2300 and at least partially overlap second end 2318 of retainer bushing 2106. In this manner, fastening plate 2302 to wheel arm 2108 may attach wheel arm 2108 to retaining structure 2308 such that wheel arm 2108 is not movable relative to retaining structure 2308.
Bearing 2306 may apply first force 2336 against first end 2316 of retainer bushing 2106, while plate 2302 may apply second force 2338 against second end 2318 of retainer bushing 2106. In this manner, axial motion of wheel arm 2108 in a direction substantially parallel to wheel axis 2114 shown in Figure 21 may be prevented.
Further, number of fasteners 2110 may fasten retainer bushing 2106 to retaining structure 2308. Number of fasteners 2110 may couple wheel arm assembly 2104, and thereby wheel system 2006 to base 2001 of vehicle 2000. Wheel arm assembly 2104 may be easily decoupled from base 2001 and removed from retaining structure 2308 by removing number of fasteners 2110. When number of fasteners 2110 is removed and wheel arm assembly 2104 decoupled from retaining structure 2308, plate 2302 may freely move through and out of first channel 2314 of retaining structure 2308.
The illustrations of manufacturing environment 700 in Figures 7-23 are not meant to imply physical or architectural limitations to the manner in which an illustrative embodiment may be implemented. Other components in addition to or in place of the ones illustrated may be used. Some components may be optional.
The different components shown in Figures 7-23 may be illustrative examples of how components shown in block form in Figures 1-6 can be implemented as physical structures. Additionally, some of the components in Figures 7-23 may be combined with components in Figures 1-6, used with components in Figure 1-6, or a combination of the two.
With reference now to Figure 24, an illustration of a process for installing a wheel arm assembly for a vehicle is depicted in the form of a flowchart in accordance with an illustrative embodiment. The process illustrated in Figure 24 may be used to install wheel arm assembly 620 for vehicle 600 in Figure 6.
The process may begin by inserting wheel arm assembly 620 into base 602 of vehicle 600 from exterior 619 of base 602 (operation 2400). In some cases, vehicle 600 may be autonomous vehicle 601 in Figure 6. In operation 2400, wheel arm assembly 620 may be inserted into first channel 625 of retaining structure 614 associated with base 602 in a direction from first end 616 of retaining structure to second end 628 of retaining structure 614.
Next, number of fasteners 658 may be installed at exterior 619 of base 602 to attach wheel arm assembly 620 to base 602 of vehicle 600 (operation 2402), with the process terminating thereafter. In operation 2402, number of fasteners 658 may be installed to attach retainer bushing 630 to first end 616 of retaining structure 614, where first end 616 is the externally-facing, or outboard-facing end, of retaining structure 614.

First end 616 of retaining structure 614 may be easily accessible without having to disassemble any components of base 602 of vehicle 600. In this manner, wheel arm assembly 620 may be coupleable to base 602 of vehicle 600 without requiring disassembly of vehicle 600 or taking vehicle 600 out of service.
With reference now to Figure 25, an illustration of a process for removing a wheel arm assembly from a vehicle is depicted in the form of a flowchart in accordance with an illustrative embodiment. The process illustrated in Figure may be used to remove wheel arm assembly 620 from vehicle 600 in Figure 6.
The process may begin by removing number of fasteners 658 that attach wheel arm assembly 620 to base 602 of vehicle 600 from exterior 619 of base 602 of vehicle 600 (operation 2500). In particular, in operation 2500, number of fasteners 658 that attach retainer bushing 630 to retaining structure 614 at first end 616 of retaining structure 614 may be removed.
In some cases, vehicle 600 may be autonomous vehicle 601 in Figure 6.
Next, wheel arm assembly 620 may be removed from base 602 of vehicle 600 (operation 2502), with the process terminating thereafter. In operation 2502, retainer bushing 630 may be pulled out of retaining structure 614 associated with base 602.
With reference now to Figure 26, an illustration of a process for assembling and installing a wheel arm assembly for an autonomous vehicle is depicted in the form of a flowchart in accordance with an illustrative embodiment. The process illustrated in Figure 26 may be used to assemble and install, for example, without limitation, wheel arm assembly 620 for autonomous vehicle 601 in Figure 6.
The process may begin by inserting sliding bushing 632 into retainer bushing 630 at first end 638 of retainer bushing 630 to press-fit 646 sliding bushing 632 within retainer bushing 630 (operation 2600). Next, bearing 633 may be positioned the first end 638 of retainer bushing 630 (operation 2602). Then, wheel arm 634 may be inserted into sliding bushing 632 at first end 638 of retainer bushing 630 such that first portion 650 of wheel arm 634 is located within sliding bushing 632, such that second portion 651 of wheel arm 634 extends past first end 638 of retainer bushing 630, and such that bearing 633 contacts wheel arm 634, sliding bushing 634, and first end 638 of retainer bushing 630 (operation 2604).
Thereafter, plate 636 may be attached to wheel arm 634 at second end 640 of retainer bushing 630 using set of fasteners 652 such that plate 636 at least partially overlaps second end 640 of retainer bushing 630 and such that sliding bushing 632, retainer bushing 630, wheel arm 634, and plate 636 together form wheel arm assembly 620 (operation 2606). Next, wheel arm assembly 620 may be inserted into retaining structure 614 associated with base 602 of autonomous vehicle 601 in a direction from first end 616 of retaining structure 614 to second end 618 of retaining structure 614 (operation 2608).
Then, number of fasteners 658 may be installed to attach first end 638 of retainer bushing 630 of wheel arm assembly 620 to first end 616 of retaining structure (operation 2610), with the process terminating thereafter. With this type of process, wheel arm assembly 620 may be quickly and easily decoupled from retaining structure 614 and thereby, autonomous vehicle 601, by removing number of fasteners 658.
The flowcharts and block diagrams in the different depicted embodiments illustrate the architecture, functionality, and operation of some possible implementations of apparatuses and methods in an illustrative embodiment. In this regard, each block in the flowcharts or block diagrams may represent a module, a segment, a function, and/or a portion of an operation or step.
In some alternative implementations of an illustrative embodiment, the function or functions noted in the blocks may occur out of the order noted in the figures. For example, in some cases, two blocks shown in succession may be executed substantially concurrently, or the blocks may sometimes be performed in the reverse order, depending upon the functionality involved. Also, other blocks may be added in addition to the illustrated blocks in a flowchart or block diagram.
The illustrative embodiments of the disclosure may be described in the context of aircraft manufacturing and service method 2700 as shown in Figure 27 and aircraft 2800 as shown in Figure 28. Turning first to Figure 27, an illustration of an aircraft manufacturing and service method is depicted in the form of a block diagram in accordance with an illustrative embodiment. During pre-production, aircraft manufacturing and service method 2700 may include specification and design of aircraft 2800 in Figure 28 and material procurement 2704.
During production, component and subassembly manufacturing 2706 and system integration 2708 of aircraft 2800 in Figure 28 takes place. Thereafter, aircraft 2800 in Figure 28 may go through certification and delivery 2710 in order to be placed in service 2712. While in service 2712 by a customer, aircraft 2800 in Figure 28 is scheduled for routine maintenance and service 2714, which may include modification, reconfiguration, refurbishment, and other maintenance or service.
Each of the processes of aircraft manufacturing and service method 2700 may be performed or carried out by at least one of a system integrator, a third party, or an operator. In these examples, the operator may be a customer. For the purposes of this description, a system integrator may include, without limitation, any number of aircraft manufacturers and major-system subcontractors; a third party may include, without limitation, any number of vendors, subcontractors, and suppliers; and an operator may be an airline, a leasing company, a military entity, a service organization, and so on.
With reference now to Figure 28, an illustration of an aircraft is depicted in the form of a block diagram in which an illustrative embodiment may be implemented. In this example, aircraft 2800 is produced by aircraft manufacturing and service method 2700 in Figure 27 and may include airframe 2802 with plurality of systems 2804 and interior 2806. Examples of systems 2804 include one or more of propulsion system 2808, electrical system 2810, hydraulic system 2812, and environmental system 2814. Any number of other systems may be included. Although an aerospace example is shown, different illustrative embodiments may be applied to other industries, such as the automotive industry.
Apparatuses and methods embodied herein may be employed during at least one of the stages of aircraft manufacturing and service method 2700 in Figure 27. In particular, flexible manufacturing system 106 from Figure 1 may be used to build at least a portion of airframe 2802 of aircraft 2800 during any one of the stages of aircraft manufacturing and service method 2700. For example, without limitation, flexible manufacturing system 106 from Figure 1 may be used during at least one of component and subassembly manufacturing 2706, system integration 2708, or some other stage of aircraft manufacturing and service method 2700 to form a fuselage for aircraft 2800.
In one illustrative example, components or subassemblies produced in component and subassembly manufacturing 2706 in Figure 27 may be fabricated or manufactured in a manner similar to components or subassemblies produced while aircraft 2800 is in service 2712 in Figure 27. As yet another example, one or more apparatus embodiments, method embodiments, or a combination thereof may be utilized during production stages, such as component and subassembly manufacturing 2706 and system integration 2708 in Figure 27. One or more apparatus embodiments, method embodiments, or a combination thereof may be utilized while aircraft 2800 is in service 2712, during maintenance and service 2714 in Figure 27, or both. The use of a number of the different illustrative embodiments may substantially expedite the assembly of and reduce the cost of aircraft 2800.
The description of the different illustrative embodiments has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. Further, different illustrative embodiments may provide different features as compared to other desirable embodiments. The embodiment or embodiments selected are chosen and described in order to best explain the principles of the embodiments, the practical application, and to enable others of ordinary skill in the art to understand the disclosure for various embodiments with various modifications as are suited to the particular use contemplated.

Claims

THE EMBODIMENTS OF THE INVENTION IN WHICH AN EXCLUSIVE
PROPERTY OR PRIVILEGE IS CLAIMED ARE DEFINED AS FOLLOWS:

1. An apparatus comprising:
a retaining structure associated with a base of a vehicle; and a wheel arm assembly coupleable to the retaining structure at an exterior of the base.

2. The apparatus of claim 1, wherein the wheel arm assembly is coupleable to the retaining structure from a first end of the retaining structure located at the exterior of the base.

3. The apparatus of claim 1, wherein the wheel arm assembly is coupleable from the exterior of the base without requiring disassembly of any portion of the base.

4. The apparatus of claim 1, wherein the retaining structure has a first channel.

5. The apparatus of claim 1, wherein the retaining structure comprises:
a first end that faces externally with respect to the vehicle; and a second end that faces internally with respect to the vehicle.

6. The apparatus of claim 5, wherein the retaining structure has a first channel that extends from the first end to the second end and wherein the wheel arm assembly is located within the first channel when the wheel arm assembly is coupled to the retaining structure.

7. The apparatus of claim 4, wherein the wheel arm assembly comprises:
a retainer bushing.

8. The apparatus of claim 7, wherein the retainer bushing enables coupling and decoupling of the wheel arm assembly from the exterior of the base.

9. The apparatus of claim 7, wherein the retainer bushing comprises a first end, a second end, and a second channel that extends from the first end of the retainer bushing to the second end of the retainer bushing.

10. The apparatus of claim 7, wherein the retainer bushing comprises:
a flange at a first end of the retainer bushing.

11. The apparatus of claim 10, wherein the flange overlaps a first end of the retaining structure when the wheel arm assembly is coupled to the retaining structure.

12. The apparatus of claim 7, wherein the wheel arm assembly further comprises:
a number of fasteners that attach the retainer bushing to the retaining structure.

13. The apparatus of claim 12, wherein the number of fasteners attach the retainer bushing to a first end of the retaining structure at the exterior of the base.

14. The apparatus of claim 7, wherein the wheel arm assembly further comprises:

a sliding bushing located within a second channel of the retainer bushing, wherein the sliding bushing has a third channel.

15. The apparatus of claim 14, wherein the wheel arm assembly further comprises:
a wheel arm, wherein a first portion of the wheel arm is located within the third channel of the sliding bushing and wherein a second portion of the wheel arm extends past a first end of the retainer bushing.

16. The apparatus of claim 15, wherein the wheel arm assembly further comprises:
a bearing located at the first end of the retainer bushing.

17. The apparatus of claim 16, wherein the bearing contacts the retainer bushing, the sliding bushing, and the wheel arm.

18. The apparatus of claim 16, wherein the wheel arm assembly further comprises:
a plate; and a set of fasteners that attach the plate to the wheel arm.

19. The apparatus of claim 18, wherein the bearing applies a first force against the first end of the retainer bushing and the plate applies a second force against a second end of the retainer bushing.

20. The apparatus of claim 19, wherein the first force and the second force substantially prevent axial motion of the wheel arm.

21. The apparatus of claim 18, wherein a greatest width of the plate is less than a smallest width of the first channel of the retaining structure such that the plate is freely movable through the first channel of the retaining structure in a direction substantially parallel to a wheel axis.

22. The apparatus of claim 18, wherein a smallest width of the plate is greater than a greatest width of the second channel of the retainer bushing such that the plate overlaps an internally-facing end of the retainer bushing such that the plate is not freely moveable within the second channel of the retainer bushing in a direction substantially parallel to a wheel axis.

23. The apparatus of claim 1, wherein the vehicle is an autonomous vehicle.

24. The apparatus of claim 1 further comprising:
a hub assembly associated with a wheel arm.

25. The apparatus of claim 24 further comprising:
a wheel associated with the hub assembly and the wheel arm.

26. The apparatus of claim 25, wherein the wheel is selected from one of an omnidirectional wheel, a holonomic wheel, and a mecanum wheel.

27. The apparatus of claim 25, wherein the wheel arm assembly, the hub assembly, and the wheel together form a wheel system.

28. The apparatus of claim 27, wherein the wheel system is one of a drive wheel system or a passive wheel system.

29. An apparatus comprising:
a wheel arm assembly that is removably associated with a retaining structure in an autonomous vehicle at an externally-facing end of the retaining structure.

30. The apparatus of claim 29, wherein the wheel arm assembly comprises:
a retainer bushing that enables the wheel arm assembly to be coupled to and decoupled from the retaining structure.

31. The apparatus of claim 29, wherein the wheel arm assembly further comprises:
a wheel arm, wherein the retainer bushing is located around a first portion of the wheel arm and wherein a second portion of the wheel arm extends past a first end of the retainer bushing.

32. The apparatus of claim 31, wherein the wheel arm assembly further comprises:
a sliding bushing located between the wheel arm and the retainer bushing.

33. The apparatus of claim 31, wherein the wheel arm assembly further comprises:
a plate; and a set of fasteners that attach the plate to the wheel arm at a second end of the retainer bushing such that the plate at least partially overlaps the second end of the retainer bushing.

34. An autonomous vehicle comprising:

a base;
a plurality of retaining structures associated with the base; and a plurality of wheel systems coupled to the plurality of retaining structures in which a wheel system in the plurality of wheel systems comprises:
a wheel arm assembly comprising:
a retainer bushing having a first end and a second end in which the retainer bushing is attached to a first end of a retaining structure in the plurality of retaining structures by a number of fasteners;
a wheel arm partially overlapped by the retainer bushing;
and a plate that is attached to the wheel arm at the second end of the retainer bushing such that the plate at least partially overlaps the second end of the retainer bushing without overlapping a second end of the retaining structure such that an entirety of the wheel arm assembly is removable from the retaining structure when the number of fasteners attaching the retainer bushing to the retaining structure is removed;
a hub assembly associated with the wheel arm of the wheel arm assembly; and an omnidirectional wheel associated with the hub assembly.

35. An autonomous vehicle comprising:
a base; and a plurality of retaining structures associated with the base in which a retaining structure in the plurality of retaining structures comprises:
a first end;
a second end;
a channel that extends from the first end to the second end and that is configured to receive a wheel arm assembly; and a number of openings at the first end configured to receive a number of fasteners for attaching a retainer bushing of the wheel arm assembly to the retaining structure.

36. The autonomous vehicle of claim 35 further comprising:
the wheel arm assembly, wherein the wheel arm assembly comprises:
the retainer bushing having a first end and a second end, wherein the first end of the retainer bushing is attached to the first end of the retaining structure using the number of fasteners.

37. A method for installing a wheel arm assembly for an autonomous vehicle, the method comprising:
inserting the wheel arm assembly into a base of the autonomous vehicle from an exterior of the base; and installing a number of fasteners at the exterior of the base to attach the wheel arm assembly to the base of the autonomous vehicle.

38. The method of claim 37, wherein inserting the wheel arm assembly comprises:
inserting the wheel arm assembly into a first channel of a retaining structure associated with the base.

39. The method of claim 37, wherein the wheel arm assembly comprises:
inserting the wheel arm assembly into a retaining structure in a direction from a first end of the retaining structure to a second end of the retaining structure.

40. The method of claim 37 further comprising:
removing the number of fasteners to decouple a retainer bushing from a retaining structure; and removing the wheel arm assembly from the retaining structure.

41. The method of claim 37 further comprising:
assembling the wheel arm assembly.

42. The method of claim 41, wherein assembling the wheel arm assembly comprises:
inserting a sliding bushing into the retainer bushing at a first end of the retainer bushing to press-fit the sliding bushing within the retainer bushing.

43. The method of claim 42, wherein assembling the wheel arm assembly comprises:
inserting a wheel arm into the sliding bushing at the first end of the retainer bushing such that a first portion of the wheel arm is overlapped by the retainer bushing and a second portion of the wheel arm extends past the first end of the retainer bushing.

44. The method of claim 43, wherein assembling the wheel arm assembly further comprises:
attaching a plate to the wheel arm at a second end of the retainer bushing using a set of fasteners such that the plate at least partially overlaps the second end of the retainer bushing.

45. The method of claim 44, wherein assembling the wheel arm assembly comprises:
positioning a bearing between the wheel arm and the first end of the retainer bushing such that the bearing contacts the wheel arm, the sliding bushing, and the first end of the retainer busing.

46. A method for installing a wheel arm assembly in a vehicle comprising:

inserting the wheel arm assembly into a retaining structure associated with a base of the vehicle; and inserting a number of fasteners to attach the wheel arm assembly to the retaining structure at an exterior of the vehicle.

47. The method of claim 46, wherein inserting the wheel arm assembly comprises:
inserting the wheel arm assembly into the retaining structure in a direction from a first end of the retaining structure to a second end of the retaining structure.

48. The method of claim 46, wherein installing the number of fasteners comprises:
installing the number of fasteners to attach a retainer bushing of the wheel arm assembly to a first end of the retaining structure.

49. A method for removing a wheel arm assembly from a vehicle comprising:
removing a number of fasteners that attach the wheel arm assembly to a base of the vehicle from an exterior of the base of the vehicle; and removing the wheel arm assembly from the base of the vehicle.

50. The method of claim 49, wherein removing the number of fasteners comprises:
removing the number of fasteners that attach a retainer bushing of the wheel arm assembly to a first end of a retaining structure associated with the base.

51. The method of claim 50, wherein removing the wheel arm assembly comprises:
removing the wheel arm assembly from the retaining structure in a direction from a second end of the retaining structure to the first end of the retaining structure.

52. A method for assembling and installing a wheel arm assembly for an autonomous vehicle, the method comprising:
inserting a sliding bushing into a retainer bushing at a first end of the retainer bushing to press-fit the sliding bushing within the retainer bushing;
positioning a bearing at the first end of the retainer bushing;
inserting a wheel arm into the sliding bushing at the first end of the retainer bushing such that a first portion of the wheel arm is located within the sliding bushing and a second portion of the wheel arm extends past the first end of the retainer bushing and such that the bearing contacts the wheel arm, the sliding bushing, and the first end of the retainer bushing;
attaching a plate to the wheel arm at a second end of the retainer bushing using a set of fasteners such that the plate at least partially overlaps the second end of the retainer bushing in which the sliding bushing, the retainer bushing, the wheel arm, and the plate form the wheel arm assembly;
inserting the wheel arm assembly into a retaining structure associated with a base of the autonomous vehicle in a direction from a first end of the retaining structure to a second end of the retaining structure; and installing a number of fasteners to attach the first end of the retainer bushing of the wheel arm assembly to the first end of the retaining structure.