Compliant End Effector for Attachment to a Robotic Arm
Original Publication Date: 1985-Nov-01
Included in the Prior Art Database: 2005-Feb-19
When inserting components on a substrate using a robotic arm, it is essential that the components not be forced into position when misaligned. A simple end effector that ensures the components are not forced, detects misaligned components and enables a retry operation to be performed is shown in the figures. Fig. 1 shows the end effector with a component properly inserted, whereas Fig. 2 shows an attempt to insert a misaligned component. Vacuum head 1 is suspended on shoulder screws 2. Bearing 3 supports the head 1 on shaft 4 and permits head 1 to move vertically. A lock-down cylinder 5 enables the head to be locked in position when a component 6 is properly aligned in a substrate. An air blast manifold 7 is provided to remove debris from the work area before a component- insertion attempt is made.