Robotic Expectations
The Warner-Robins ALC F-15 aircraft robotic depaint system uses three 26,000-pound robots, each having nine degrees of freedom. These "joints" comprise a brushless motor, a cycloidal transmission, a brake, and a resolver package, which gives the robot controller the position of its moving arm. The system was designed to meet or exceed these performance goals:
- To strip 90 percent of the airplane surface designated for PMB stripping
- To complete the automated stripping in under 20 hours
- To operate at a velocity range (during stripping) of 0.33 inches per second to 4.5 inches per second
- To accommodate an airplane positioned within the following tolerances: ±12 inches front to back, ±7 inches side to side, and ±3 inches up and down
- To enforce zone arbitration between robots
- To blast continuously
