End effector assemblies for drilling a plurality of spaced-apart holes in a part, robots including the end effector assemblies, and associated methods

A method of utilizing an end effector assembly to drill a plurality of spaced-apart holes in a part, the method comprising:

• selectively applying a first force, with a first force application structure of the end effector assembly, to a surface of the part at a first predetermined location, wherein the selectively applying the first force includes selectively transitioning the first force application structure from a retracted state, in which the first force application structure is spaced-apart from the surface of the part, to an extended state, in which the first force application structure applies the first force to the surface of the part, and further wherein the selectively applying the first force includes pressing a skin of the part against a frame of the part;
• during the selectively applying the first force, selectively extending a drill bit of the end effector assembly into the part and subsequently retracting the drill bit from the part to drill a first spaced-apart hole in the part, wherein the selectively extending and the subsequently retracting include drilling the first spaced-apart hole in both the skin of the part and the frame of the part;
• subsequent to the retracting, ceasing application of the first force to the surface of the part;
• applying a second force, with a second force application structure of the end effector assembly, to the surface of the part;
• and
• during the applying the second force and subsequent to the ceasing application of the first force, transitioning the end effector assembly, along the surface of the part, from the first predetermined location to a second predetermined location.

An end effector assembly for drilling a plurality of spaced-apart holes in a part, the end effector assembly comprising:

• a first force application structure configured to selectively and mechanically apply a first force to a surface of the part;
• an end effector configured to:
• (i) selectively transition the first force application structure between a retracted state, in which the first force application structure is spaced-apart from the surface of the part, and an extended state, in which the first force application structure applies the first force to the surface of the part;
• and
• (ii) selectively extend a drill bit into the part and subsequently retract the drill bit from the part, while the first force application structure is in the extended state, to drill at least one of the plurality of spaced-apart holes;
• and
• a second force application structure configured to continuously apply a second force to the surface of the part while the first force application structure is in the retracted state and as the end effector assembly transitions, along the surface of the part, from a first predetermined location to a second predetermined location;
• wherein the end effector further is configured to selectively transition the second force application structure between a separated state, in which the second force application structure is spaced-apart from the surface of the part, and a contacted state, in which the second force application structure applies the second force to the surface of the part.

An end effector assembly for drilling a plurality of spaced-apart holes in a part, the end effector assembly comprising:

• a first force application structure configured to selectively and mechanically apply a first force to a surface of the part;
• an end effector configured to:
• (i) selectively transition the first force application structure between a retracted state, in which the first force application structure is spaced-apart from the surface of the part, and an extended state, in which the first force application structure applies the first force to the surface of the part;
• and
• (ii) selectively extend a drill bit into the part and subsequently retract the drill bit from the part, while the first force application structure is in the extended state, to drill at least one of the plurality of spaced-apart holes;
• a second force application structure configured to continuously apply a second force to the surface of the part while the first force application structure is in the retracted state and as the end effector assembly transitions, along the surface of the part, from a first predetermined location to a second predetermined location;
• and
• a coupler configured to facilitate selective attachment of the first force application structure to a remainder of the end effector assembly and subsequent separation of the first force application structure from the remainder of the end effector assembly.

A robot, comprising:

• a robotic arm extending between a first end and a second end;
• a base structure operatively attached to the first end;
• an end effector assembly for drilling a plurality of spaced-apart holes in a part operatively attached to the second end, wherein the end effector assembly includes:
• (i) a first force application structure configured to selectively and mechanically apply a first force to a surface of the part;
• (ii) an end effector configured to:
• (a) selectively transition the first force application structure between a retracted state, in which the first force application structure is spaced-apart from the surface of the part, and an extended state, in which the first force application structure applies the first force to the surface of the part;
• and
• (b) selectively extend a drill bit into the part and subsequently retract the drill bit from the part, while the first force application structure is in the extended state, to drill at least one of the plurality of spaced-apart holes;
• and
• (iii) a second force application structure configured to continuously apply a second force to the surface of the part while the first force application structure is in the retracted state and as the end effector assembly transitions, along the surface of the part, from a first predetermined location to a second predetermined location;
• and
• a controller programmed to:
• (i) position the end effector assembly at the first predetermined location;
• (ii) while at the first predetermined location, selectively transition the first force application structure from the retracted state to the extended state to apply the first force to the surface of the part;
• (iii) while the first force is applied to the surface of the part, selectively extend the drill bit into the part and subsequently retract the drill bit from the part to drill the at least one of the plurality of spaced-apart holes;
• (iv) after the at least one of the plurality of spaced-apart holes is drilled, selectively transition the first force application structure from the extended state to the retracted state;
• (v) apply the second force to the surface of the part with the second force application structure;
• and
• (vi) during application of the second force to the surface of the part, transition the end effector assembly, along the surface of the part, from the first predetermined location to the second predetermined location.