Abstract: A system for retaining a film on a single-piece frame includes a frame having a shape with a center open area larger than the film, the frame comprising a plurality of fingers on the frame extending into the open area, and a barb positioned on an end of each of the plurality of fingers, wherein the barbs retain the film. The system also includes an end effecter comprising a first and second plurality of vacuum line openings, wherein the end effecter holds onto the film with the first plurality of vacuum line openings and holds onto the frame with the second plurality of vacuum line openings, wherein the end effecter picks up the film with the first plurality of vacuum line openings and presses the film onto the frame, wherein pressing the film onto the frame will retain the film on the barbs.

Abstract: A system for retaining a film on a single-piece frame includes a frame having a shape with a center open area larger than the film, the frame comprising a plurality of fingers on the frame extending into the open area, and a barb positioned on an end of each of the plurality of fingers, wherein the barbs retain the film. The system also includes an end effecter comprising a first and second plurality of vacuum line openings, wherein the end effecter holds onto the film with the first plurality of vacuum line openings and holds onto the frame with the second plurality of vacuum line openings, wherein the end effecter picks up the film with the first plurality of vacuum line openings and presses the film onto the frame, wherein pressing the film onto the frame will retain the film on the barbs.