| 摘要 |
An apparatus and method for aligning an end effector that is attached to a robotic arm of a disk certification system. The end effector includes a disk paddle that is pivotally connected to an end effector housing. The end effector housing has a center opening that can receive a gripper subassembly. The disk paddle grabs a disk which has a center opening. The disk paddle is aligned by placing the end effector onto an alignment plate so that a center alignment pin of the plate is inserted into the center opening of the housing, and an outer alignment pin is inserted into the center opening of the disk. The end effector has an adjustment screw that can be adjusted to vary the position of the disk paddle so that the outer alignment pin is accurately positioned within the disk center opening. After alignment the end effector can be attached to the robotic arm.
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