Abstract: An end effector for loading and unloading a magnetic information storage circular disk on a grinder carrier surface includes an effector block, an annular vacuum cup, including vacuum apertures, attached to and extending from the block and a vacuum source for attaching the cup to the disk. The annular cup surrounds and abuts against a periphery of a central aperture of the disk. A disk-carrying effector further includes a series, preferably three, of spaced vacuum cups extending radially outwardly of the annular vacuum cup. The overall effector is placed into abutment with radially outward portions of the disk surface and used to reliably unload a ground disk from a grinding surface. The spaced vacuum cups compensate for any non-planarity of the disk to be picked up caused by uneven wear of the grinder surface upon which the disk rests.

Abstract: A robotic end effector for loading and unloading a magnetic information storage circular disk on a grinder or polisher carrier surface includes an effector block, an annular vacuum cup, including vacuum apertures, attached to and extending from the block and a vacuum source for attaching the cup to the disk. The cup surrounds and abuts against a periphery of a central aperture of the disk. A bore in the block conveys pressurized air through the cup axial interior, through the disk central aperture to overcome surface tension (stiction) between the carrier surface or platen of the grinder or polisher and the disk underside during unloading. A disk-carrying effector is aligned by including a lens surrounded by a ring of light-emitting diodes directed to fiducial holes on the carrier surface providing for a comparative reflection of light from the diodes by dark holes and a light colored carrier surface.

Abstract: A clamp for a memory disk having a disk aperture bounded by a cylindrical peripheral edge and chamfered peripheral edges includes facing clamp members having chamfered peripheral edges which are parallel to the chamfered edges of the disk aperture. The clamp directs forces to the disk chamfered edges substantially perpendicular to the disk sides thus preventing deformation or cracking of a clamped disk. Preferably, the disk is held between a chamfer on a housing and a chamfer on an expandable collet extending from the housing. A longitudinal movable expander extending through the housing and collet is attached to a pull bar to expand curved segments of the collet to first move the segments particularly the chamfer to a radial position opposite but spaced from a disk chamfered edge, then longitudinally to contact and clamp the disk with a predetermined force.