Nut plate grippers, end effectors that include nut plate grippers, robots that include end effectors, installation systems that include robots, and related methods

A method of gripping a nut plate utilizing a nut plate gripper, the method comprising:

• aligning a first nut plate-contacting end of a first resilient projecting region of the nut plate gripper and a second nut plate-contacting end of a second resilient projecting region of the nut plate gripper with a pair of opposed plate flanges of a base plate of the nut plate;
• gripping the nut plate with the nut plate gripper by moving the nut plate gripper and the nut plate toward one another such that the first nut plate-contacting end and the second nut plate-contacting end are positioned between the pair of opposed plate flanges and apply a retaining force to the pair of opposed plate flanges;
• and
• wherein, during the moving, the method further includes vibrating at least one of the first nut plate-contacting end and the second nut plate-contacting end.

A nut plate gripper configured to grip a nut plate, the nut plate gripper comprising:

• an attachment region, configured to facilitate attachment of the nut plate gripper to an end effector;
• a first resilient projecting region that extends from the attachment region and defines a first nut plate-contacting end;
• a second resilient projecting region that extends from the attachment region and defines a second nut plate-contacting end;
• and
• a gripper actuator;
• wherein the first resilient projecting region and the second resilient projecting region are configured to resiliently deflect toward one another to facilitate insertion of the first nut plate-contacting end and the second nut plate-contacting end between a pair of opposed plate flanges of a base plate of the nut plate.

A method of gripping a nut plate utilizing a nut plate gripper, the method comprising:

• aligning a first nut plate-contacting end of a first resilient projecting region of the nut plate gripper and a second nut plate-contacting end of a second resilient projecting region of the nut plate gripper with a pair of opposed plate flanges of a base plate of the nut plate;
• and
• gripping the nut plate with the nut plate gripper by moving the nut plate gripper and the nut plate toward one another such that the first nut plate-contacting end and the second nut plate-contacting end are positioned between the pair of opposed plate flanges and apply a retaining force to the pair of opposed plate flanges;
• wherein the moving includes at least one of:
• (i) positioning a first opposed plate flange of the pair of opposed plate flanges between a first pair of opposed ramps of the nut plate gripper to locate the nut plate and the nut plate gripper relative to one another in a third dimension that is perpendicular to two dimensions;
• and
• (ii) positioning a second opposed plate flange of the pair of opposed plate flanges between a second pair of opposed ramps of the nut plate gripper to locate the nut plate and the nut plate gripper relative to one another in the third dimension.

A method of gripping a nut plate utilizing a nut plate gripper, the method comprising:

• aligning a first nut plate-contacting end of a first resilient projecting region of the nut plate gripper and a second nut plate-contacting end of a second resilient projecting region of the nut plate gripper with a pair of opposed plate flanges of a base plate of the nut plate;
• gripping the nut plate with the nut plate gripper by moving the nut plate gripper and the nut plate toward one another such that the first nut plate-contacting end and the second nut plate-contacting end are positioned between the pair of opposed plate flanges and apply a retaining force to the pair of opposed plate flanges;
• and
• subsequent to the gripping, releasing the nut plate from the nut plate gripper, wherein the releasing includes actively releasing the nut plate from the nut plate gripper by actuating a gripper actuator of the nut plate gripper.