Airframe Sealing Automation Using Snake-robot

Abstract

The work described herein have had the objective of carrying out a technical-economic feasibility study of a snake-robot for sealant application in an aircraft fuselage. The execution of the project brought knowledge related to the design and development of robots, constrained Cartesian trajectory generation, optimization methods for inverse kinematics computation, collaborative robotics and 3D simulations besides experiments related to aircraft components and application of sealants in the fuselage.