A small, lightweight end effector drill and rivet machine has been developed. The system is capable of installing fasteners in areas that have previously been inaccessible to automatic fastening machines. The unique lower ram system is so small that it can reach through access openings to drill and install fasteners. The system incorporates sensors, a fiber-optic camera system and electronic measurement devices to provide statistical process control data (SPC) for the installed fasteners. An automatic fastener feeding system provides the correct diameter and grip length fastener to the machine. Fastener information is either stored in the part program or is determined by the machine measurement system. The mechanical functions of the system, the machine controls, and the communications between the automatic drill and rivet end effector and the robotic system are discussed. The fully automatic system is mounted on a Jomach 16 Robot.
