Importance

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Abstract

An automated self-aligning system is disclosed including a first robot arm attached to a clamping end effector including clamp jaws for clamping either side of a workpiece and with an aperture in one of the clamp jaws. A second robot arm is attached to a tooling end effector including a tool module carrying a tool. The tool module is insertable into the aperture and the tool is adapted to perform an operation on the workpiece. The second robot arm is arranged to move the tool module so as to move the tool module in a direction of insertion so as to insert the tool module into the aperture. A load sensor coupled to the tooling end effector and is arranged to determine a load in the direction of insertion of the tool module. The tooling end effector is further arranged to move the tool module with respect to the second robot arm in a plurality of degrees of freedom different than the insertion direction.

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First Claim