Abstract: A movable robot for performing tasks upon and traversing a work surface. The robot having a first support means having a longitudinal axis. The first support means have first gripping means extending therefrom for detachable adhering the first support means to the work surface. The robot further having at least one second support means movably coupled to the first support means. Respective second gripping means extend from each second support means for detachable adhering the second support means to the work surface. The first and second gripping means are capable of being moved relative to one another both in a direction parallel to the longitudinal axis and along a line that intersects the longitudinal axis. At least one tool is attached to one or more of the first and second support means.

Abstract: A decorator for cylindrical objects, such as beverage cans and the like. The cylindrical members are carried by mandrels which are sequentially presented to rotating printing plates. A plurality of mandrels are carried by a mandrel cluster and the printing plates are carried by plate wheels. The decorator is capable of utilizing flexographic inks wherein the surface of the cylindrical body can be printed with a first ink, the ink rapidly dried, followed by the application of the second ink. The mandrels are compliantly supported on the mandrel cluster by pneumatic cylinders supplied with both high and low pressure air so that the spring rate of the complaint support may be varied to ensure uniform printing. Synchronization of the rotation of a mandrel with the rotation of a printing plate carried by a plate cylinder is critical so that the second image is precisely in register with respect to a first applied image.