COMPLIANT END EFFECTORS, ROBOTS THAT INCLUDE COMPLIANT END EFFECTORS, AND METHODS OF UTILIZING SAME

摘要

Compliant end effectors 100, robots that include compliant end effectors 100, and methods of utilizing the same. The robots include a robotic arm and the compliant end effector 100. The compliant end effector 100 includes a base 110, a jaw 120 fixedly coupled to the base 110, a part-engaging surface 130, and a pivot structure 140. The pivot structure 140 extends between the part-engaging surface 130 and the jaw 120 and is configured to permit limited rotation of the part-engaging surface 130 relative to the jaw 120 about a single pivot axis 150. The methods include locating an apparatus 90 with a vision system 40 of the robot, locating a part 80 with the vision system 40, gripping the part 80 with the compliant end effector 100, positioning the part 80 relative to the apparatus 90, and operatively attaching the part 80 to the apparatus 90. The positioning includes deliberately contacting a toe end of a flange 84 of the part 80 with the apparatus 90 prior to contacting a heel end 88 of the flange 84 with the apparatus 90.