Abstract: In the present disclosure, systems and apparatuses of a low deflection end-of-arm tooling configured to interface with robots are described. In one aspect, an apparatus may include a shaft with dimensions that include a length greater than a width and having lengthwise distal and proximal ends, and the distal end may be configured to interface with a tool. The apparatus may further includes a flange connected to the proximal end of the shaft and configured to interface with a robotic arm. The apparatus may further include a tool located at the proximal end of the shaft and configured to interface with a plurality of parts associated with vehicular assembly. The shaft may be configured to resist deformation beyond a configured amount when a respective load is applied by each part of the plurality of parts retained by the tool.

Abstract: This invention comprises a device for measuring root pulling force (RPF) in a plant. The RPF device comprises a plant grasping mechanism, as well as a force measurement sensor. In certain embodiments, the device is automatic, so that the “hand of man” is not required to exert force on the plant while the root pulling force of the plant is being measured. Also disclosed is a root pulling force motion mechanism, which brings the RPF device into proximity of a plant to be measured. Further disclosed is a method for measuring root pulling force of a plant.

Abstract: In the present disclosure, methods, systems, and apparatuses for in-process assembly error correction are described. In various embodiments, a target arrangement of parts of an assembly may be obtained, with the target arrangement including a first target position of a first part, a second target position of a second part, and a third target position of a third part. The first part and the second part may be robotically joined based on the first target position and the second target position to obtain a first subassembly of the assembly, with the first subassembly having a first physical arrangement that includes the physical arrangement of the first and second parts after joining. The first physical arrangement may be fitted to the target arrangement to obtain a fitted first physical arrangement. The first subassembly and the third part may be robotically joined based on the fitted first physical arrangement.

Abstract: Various aspects of robotic grippers are disclosed herein. In one aspect, a robotic gripper may include three gripper fingers arranged on a mechanical end effector, the three gripper fingers configured to translate radially when actuated to contact and align with a gripper interface located on a part to enable manipulation of the part. In various embodiments, each gripper finger may include an elongated portion configured to contact an outer surface of the gripper interface when the gripper fingers are actuated. Each gripper finger may further include a hook portion configured to contact an inner surface of the gripper interface opposing the outer surface. In various embodiments, the hook portion may include a receptacle positioned to align with a complementary protrusion on the gripper interface.

Abstract: Disclosed herein is a device for measuring root pulling force (RPF) in a plant. The RPF device can comprise a plant grasping mechanism, as well as a force measurement sensor. The device can be automatic, so that the “hand of man” is not required to exert force on the plant while the root pulling force of the plant is being measured. Also disclosed is a root pulling force motion mechanism, which brings the RPF device into proximity of a plant to be measured. Further disclosed is a method for measuring root pulling force of a plant.