Automated Guided Vehicles (AGVs) for Horizontal Wing Assembly

Fori recently provided six high capacity Aerospace Tugger AGVs for the automated transport of tooling, supporting the horizontal build line for wing assembly. 


  • Guidance Technology: Magnetic bar, inertial with pencil magnets, natural feature and laser contour
  • Capacity: 120,000 lbs./54,545 kg.
  • Safety: Safety scanners and bumpers, Siemens safety PLC, system interlocks
  • Controls: Siemens open architecture, vehicle management system (VMS)
  • Keys to Success: Vehicle synchronization, custom designed chassis, highly accurate and repeatable.
  • Results: Improved flexibility, decreased crane usage

The six high capacity Tugger AGVs (capable of automated docking and transport of tooling up to 120,000 pounds) have been designed to accommodate projected production. The AGVs will be the primary method of transporting the tooling and product through the assembly process.


The AGVs were developed to support a lean automated manufacturing methodology. The design intent was to build a vehicle that was modular and interchangeable. The AGV system is required to transport nine different tools, all with different weights and footprints. Due to tools exceeding lengths of 100 feet, the AGVs are required to dock at each end of the tool and move in tandem.

The automated docking utilizes a natural feature and camera based guidance system, which accommodates unexpected movement of the tooling. The system measures the surface of the tooling to generate angular offsets and utilizes a SICK camera and reflector based system for final location. Once positioned, servo driven couplers automatically pin spring loaded receivers mounted to the tooling. The tooling is also outfitted with safety scanners powered and controlled by the AGV.


Responsibilities of the AGVs include: automated docking, tooling identification and transport throughout the facility. A Fori Vehicle Management System (VMS) has been provided to monitor system I/O, communication between the AGVs, tooling, and automated assembly stations. Scheduling of moves also occurs between the vehicle Siemens Mobile Panel and the Fori VMS.

For more information about Fori Automation’s aerospace products, please visit our website.


Automated MIG Welding Assembly System for Automotive Components

The Robotic MIG Welding system contains resistance spot welding, projection welding, drawn arc welding and a sealer application.


  • Assembly Cycle Time: 54 seconds
  • Keys to Success: Integrated robots, custom designed turn tables, custom precision welding
  • Results: Decreased cycle time and increased quality

The robotic weld system provided accommodates for multiple structural end item assemblies that consisted of resistance spot welding, projection welding, drawn arc welding, as well as a sealer application. The system contained multiple welding cells with a total of (50) robots.

The end item assemblies within this program were Load Beams, Rear Quarter Inner, Rear Closure Inner Assembly, Dash Assembly, Cowl Side, Center Floor Pan Assembly and Sill Outer.

Dial indexers where integrated into a number of the weld cells to improve the efficiency of the robots. Within the process some robots carried weld guns while others were material handling robots that moved the assemblies through pedestal welders (spot, projection and drawn arc) or pedestal sealers.


Fori USA was responsible for Project Management, Engineering, Assembly and Integration. All cells were setup and run off at Fori’s global headquarters in Shelby Township, MI. Fori Mexico was responsible for installation and buy off at the end user’s production facility.


For more information on Fori Automation’s weld lines, please visit our website.