Spring-loaded contour following end effectors for lapping/polishing

摘要

End effectors are provided for performing surface lapping using a robot. The end effectors allow orthogonal surface contact in order to maintain optimum pressure applied by the robot. One or more end effectors include a base, a plate, a lapping pad attached to the plate, and a pivot joint. The pivot joint allows the plate to pivot about two substantially orthogonal axes. The base is attached to an arm of a robot. The end effector includes a component for absorbing applied pressure, such as a spring-loaded shaft or a pneumatic shaft. In an aspect of the invention, the two axes are substantially parallel to the planar surface.