Multi-function end effector (MFEE)

The multi-function end effector is our solution for automated drilling, countersinking, sealant application and the setting of rivets in aircraft construction. It takes on important assembly steps and performs them independently and with extreme precision.

Multi-function end effector: multi-talented assembly specialist

The multi-function end effector is our solution for automated drilling, countersinking, sealant application and the installation of fasteners in aircraft construction. It takes on important assembly steps and performs them independently and with extreme precision.

Advantages of the KUKA multi-function end effector

Versatile and flexible

Our multi-function end effector is fitted with a configurable barrel. With its six positions and different modules, it is equipped for a wide range of different tasks.

Fast and reliable

With the KUKA multi-function end effector, you can depend on high-quality assembly. It masters even difficult assembly tasks effortlessly.

Fully automated

With the KUKA multi-function end effector, you can automate your drilling and riveting operations in next to no time. It selects and switches between the appropriate functions automatically.

Components of the multi-function end effector

The KUKA multi-function end effector is fitted with a reconfigurable barrel with six positions for drilling and riveting. The barrel contains the following modules: drilling, vision, sealant application, insertion, quality and hammer modules. We also have suitable end effectors to squeeze rivets or to provide counteraction from IML.

Vision Module

The relocation operation accomplished by the vision module is very important. It makes it possible to adjust the robot positioning according to the real aircraft part geometry. The vision module is then used for robot relocation on known targets such as holes, and fasteners. For a better accuracy, the vision axis is the same as the drilling axis.

Normality compensation and anti- slippage 

This end effector is equipped with normality compensation and anti-slippage functions in order to satisfy the hole positioning accuracy.

Drilling module: precision positioning

The KUKA multi-function end effector can drill holes of different diameters, as all drilling modules fit on the same drilling spindle.
The motion of the drilling spindle is controlled by a precise drive. In this way, we can guarantee high precision and quality – with every repetition.
The drilling module of the multi-function end effector ensures maximum flexibility.

Drilling module: accurate positioning 

The KUKA MFEE can be equiped with one or several drilling spindles. An automated tool changer alows this device to produce holes of different diameters with the same spindle. 
The motion of the drilling spindle is controlled by a precise feed axis ensuring accurate positioning and countersink depth repetability. 

Insertion module: adaptability to all kinds of rivet 

The KUKA multi-function end effector works with a special rivet setting unit: a vacuum system holds the rivets in the module and automatically feeds them for insertion. This enables extremely accurate work with solid rivets, lockbolts and blind rivets.

Rivet setting unit: strong hold

The KUKA multi-function end effector works with a special rivet setting unit: a vacuum system holds the rivets in the module and automatically feeds them for insertion. This enables extremely accurate work with solid rivets, lockbolts and blind rivets.

The multi-function end effector assembles components – and ensures a perfect hold.

Slip compensation and normal compensation

The multi-function end effector has slip compensation and normal compensation functions. In conjunction with analog sensors and laser measurement, these functions stabilize the high-speed end effector and ensure exact positioning with free motion of the barrel. At the same time, the rear part remains absolutely stable.

The sensors for slip compensation and normal compensation ensure stability and precision.

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