Abstract: A compliant fastening subsystem for use with a robotic manipulator includes a fastener engagement interface, a power transmission element, and a compliance mechanism. The fastener engagement interface is configured to engage a screw, nut, or bolt. The power transmission element is configured to provide rotational motion to the fastener engagement interface. The compliance mechanism is operatively coupled between the power transmission element and the robotic manipulator. The compliance mechanism provides controlled compliance along a selected axis while remaining substantially rigid along one or more other axes to enable controlled application of torque to the fastener engagement interface.

Abstract: A method for performing a fastening operation using a robotic system includes positioning a holding subsystem to engage and stabilize a first fastener component on a first side of a fastening surface. The method includes positioning a driving subsystem to engage a second fastener component on a second side of the fastening surface. The method includes accommodating misalignment between the first fastener component and the second fastener component using a compliance mechanism. The method includes applying controlled rotational torque to secure the first fastener component and the second fastener component together.

Abstract: An end effector system for use with a robotic manipulator is disclosed for performing fastening operations with controlled torque while accommodating misalignment between fastener components. In some embodiments, the system includes a driving subsystem configured to engage a fastener component and apply rotational motion, and a holding subsystem configured to engage and stabilize a corresponding fastener component positioned on an opposite side of a fastening surface. At least one compliance mechanism can be operatively coupled to the driving subsystem or the holding subsystem and can provide controlled compliance along a selected axis while remaining substantially rigid along one or more other axes.