US Patent 8458896 Robotic end-effector for component center alignment and assembly

A robotic end-effector for high-speed precision alignment and assembly of of a spacer ring onto a motor-hub assembly has a holding device operable for temporarily holding the spacer ring. The spacer ring is to be aligned and assembled to the motor-hub assembly. The robotic end-effector has a course alignment device operable for locating the holding device with respect to a locating feature that is coupled with the motor-hub assembly. The robotic end-effector has a retractor operable for disengaging the course alignment device from the locating feature. The robotic end-effector has a moveable base whereby lateral compliance is provided for the holding device, enabling motion of the spacer ring with respect to the motor-hub assembly, thereby enabling fine alignment of the spacer ring with the motor-hub assembly when the spacer ring touches the motor-hub assembly.