Design of a semi-passive heavy-duty mobile robotic system for automated assembly inside an aircraft body

We present an initial design of a mobile robotic system for automated assembly inside an aircraft body. This system allows for the positioning control of a heavy duty end effector that is working on the far side of a thin wall at any orientation. It utilizes electromagnets to hold the end effector against the wall, as well as linear motor type actuation for locomotion. Initial testing on a prototype verifies the effectiveness of some of the chosen design parameters.