Mechatronic advanced manufacturing systems blur the line between an automated fastening system and an assembly tool. Multi-purpose end effectors sit directly on the assembly jig or holding fixture to access the part and augment the work of skilled operators. This paper and presentation will explore existing installations and their various geometries, designed to provide the most efficient and cost-effective access to the aerostructure. A C-frame runs the length of the jig for lateral panel fuselage fastening of large commercial transports. Square frames run the length of wing assembly jigs. The ARC frame was developed for structures that require circumferential drilling and fastening, such as spars, but has literally expanded to take on fastening of medium-sized fuselages. In some cases, one multi-purpose end effector can be moved from tool to tool, creating the equivalent of several advanced manufacturing systems from one drill spindle.