| 主权项 |
1. An end effector comprising a U-shaped frame, a spindle for drilling and/or milling, a first actuator for driving the spindle in rotation about an axis, a second actuator for advancing and retracting the spindle along the spindle axis, said first and second actuators being on opposite sides of said axis and each being at least partially outward of said U-shaped frame, a mount for fixing the end effector U-shaped frame to an apparatus for locating the end effector relative to a workpiece, and a pair of slides each within said U-shaped frame and each moveable relative to said U-shaped frame for positioning the spindle axis in respective directions perpendicular to the spindle axis and mutually perpendicular to each other while a support for a workpiece engaging pressure foot carried on said U-shaped frame distal from said mount remains stationary. |
