In all modern automated assembly it is essential to be able to accommodate all kind of processes like surface detection, drilling, countersinking, orbital drilling, cleaning, sealing, and assembly, without having to develop special equipment for each and every application, and it is also important that an automated system can be adapted to various shapes and materials on large parts, such as wings and fuselages, as well as smaller parts like flaps and doors. Historically this type of assembly has always required large, heavy-duty, expensive machines designed and built with (and for) high accuracy over the entire work envelope and consequentially such large machines been generally very complex and normally financially and physically impossible to build with more than one spindle/assembly tool. To meet above challenges the aerospace industry must adapt automotive thinking using multiple process units such as articular arm robots, but in contrary to automotive the processes in aerospace