Abstract: An end effector for a robotic sanding system includes a sanding head including a sander configured to sand a surface of a workpiece. A motor is operatively coupled to the sander. The motor is configured to rotate the sander to sand the surface of the workpiece. The motor includes a first central longitudinal axis. A coupler is configured to removably secure the end effector to an attachment interface of an arm of the robotic sanding system. The coupler includes a second central longitudinal axis. The first central longitudinal axis is offset from the second central longitudinal axis. One or more sensors are coupled to the sanding head. The one or more sensors are configured to detect presence of a metal within the predefined range.

Abstract: An end effector for a robotic sanding system includes a sanding head including a sander configured to sand a surface of a workpiece. A motor is operatively coupled to the sander. The motor is configured to rotate the sander to sand the surface of the workpiece. The motor includes a first central longitudinal axis. A coupler is configured to removably secure the end effector to an attachment interface of an arm of the robotic sanding system. The coupler includes a second central longitudinal axis. The first central longitudinal axis is offset from the second central longitudinal axis. One or more sensors are coupled to the sanding head. The one or more sensors are configured to detect presence of a metal within the predefined range.

Abstract: A robotic system includes a robot and a processor configured to autonomously generate a master plan for movement of an end effector of the robot for operating on an operating surface of a workpiece in a physical environment. The master plan is based on a computer aided design (CAD) model of the workpiece and defines movement paths of the end effector based on a reach distance of a robotic arm of the robot at each of a plurality of working waypoints defined in the master plan and corresponding to fiducial markers on the workpiece. The processor registers the robot to the workpiece, iteratively adjusts an approximate workpiece position in a world map until matching an actual workpiece position in the physical environment, and constructs and executes a robotic arm trajectory causing the end effector to operate on the operating surface along the movement paths defined in the master plan.

Abstract: A robotic system includes a robot and a processor configured to autonomously generate a master plan for movement of an end effector of the robot for operating on an operating surface of a workpiece in a physical environment. The master plan is based on a computer aided design (CAD) model of the workpiece and defines movement paths of the end effector based on a reach distance of a robotic arm of the robot at each of a plurality of working waypoints defined in the master plan and corresponding to fiducial markers on the workpiece. The processor registers the robot to the workpiece, iteratively adjusts an approximate workpiece position in a world map until matching an actual workpiece position in the physical environment, and constructs and executes a robotic arm trajectory causing the end effector to operate on the operating surface along the movement paths defined in the master plan.

Abstract: A method for drawing a flexible sleeve over an elongated mandrel includes placing a ring within a lumen of the sleeve. A first end of the sleeve is fixed against movement relative to a first end of the mandrel. A first end portion of the sleeve is inverted over a first end portion of the mandrel so as to define a circumferential cuff in the sleeve, and the ring is positioned concentrically within the circumferential cuff. Using, e.g., a magnet, the ring is then urged longitudinally along the mandrel and toward an opposite, second end thereof, such that the sleeve is inverted over at least an outer surface of the mandrel.

Abstract: A method for drawing a flexible sleeve over an elongated mandrel includes placing a ring within a lumen of the sleeve. A first end of the sleeve is fixed against movement relative to a first end of the mandrel. A first end portion of the sleeve is inverted over a first end portion of the mandrel so as to define a circumferential cuff in the sleeve, and the ring is positioned concentrically within the circumferential cuff. Using, e.g., a magnet, the ring is then urged longitudinally along the mandrel and toward an opposite, second end thereof, such that the sleeve is inverted over at least an outer surface of the mandrel.