Apparatus and method for coupling an end effector to a structure

An end effector system coupleable to a structure, said end effector system comprising:

• an interface plate that comprises a first side of a base assembly and an opposite interface plate second side, said base assembly first side coupled to an end effector;
• a base plate that comprises a second side of said base assembly and an opposite base plate first side, wherein at least one cup-shaped portion depends from said base assembly second side and defines at least one cavity disposed on said base assembly second side;
• a plurality of releasable connectors each disposed on one of said base plate and said interface plate, each of said releasable connectors defines a respective longitudinal axis, each of said releasable connectors pivotable between a locking position and a receiving position about a respective pivot axis defined generally perpendicular to said longitudinal axis, wherein said plurality of releasable connectors in the locking position couple to the other of said interface plate and said base plate such that said base plate first side is locked in a non-movable, substantially face-to-face relationship with said interface plate second side, and such that said base assembly first side is opposite said base assembly second side, and wherein said plurality of releasable connectors in the receiving position completely releases said interface plate from said base plate;
• and
• at least one pneumatic generator coupled in flow communication with said at least one cavity, said at least one pneumatic generator is operable in a suction mode and a blower mode, wherein:
• said base assembly second side having said at least one cavity is securely coupleable to a surface of the structure via a vacuum force induced by said at least one pneumatic generator in the suction mode, and
• said base assembly second side having said at least one cavity is movable substantially frictionlessly across the surface via an air cushion induced by said at least one pneumatic generator in the blower mode.

A method of making a base assembly for coupling an end effector to a structure, said method comprising:

• coupling a plurality of pins to one of a base plate and an interface plate, such that each of the pins is rotatable with respect to the one of the base plate and the interface plate about a respective axis, wherein each of the pins defines an aperture extending therethrough in a direction generally perpendicular to the axis;
• coupling each of a plurality of releasable connectors to the aperture of a respective one of the pins, each of the releasable connectors disposed adjacent to an outer edge of the one of the base plate and the interface plate, each of the releasable connectors movable between a locking position and a receiving position via rotation of the respective pin about the respective axis, wherein the plurality of releasable connectors in the locking position couple to the other of the interface plate and the base plate such that a first side of the base plate is locked in a non adjustable non-movable, substantially face-to-face relationship with a second side of the interface plate, wherein the base plate includes a second side of the base assembly opposite the base plate first side, and the interface plate includes a first side of the base assembly opposite the interface plate second side;
• configuring the first side of the base assembly to couple to the end effector;
• disposing at least one cup-shaped portion that depends from the second side of the base assembly and defines at least one cavity on the second side of the base assembly opposite the first side of the base assembly;
• and
• coupling at least one pneumatic generator in flow communication with the at least one cavity, the at least one pneumatic generator is operable in a suction mode and a blower mode, wherein:
• the second side having the at least one cavity is securely coupleable to a surface of the structure via a vacuum force induced by the at least one pneumatic generator in the suction mode, and the second side having the at least one cavity is movable substantially frictionlessly across the surface via an air cushion induced by the at least one pneumatic generator in the blower mode.