Fastener installation assembly, an end-effector tool, and a method

An end-effector tool for installing a plurality of fasteners into respective holes of a workpiece, the end-effector tool comprising:

• a fixture;
• and
• a plurality of fastener installation assemblies attached to the fixture in a predetermined pattern, wherein each of the fastener installation assemblies include:
• a container;
• a plurality of retainer assemblies supported by the container, wherein each of the retainer assemblies include a plurality of fingers configured to retain a respective one of the fasteners between the fingers in a pre-installed position;
• a first actuator disposed proximal to the container and configured to move the respective fasteners to an installed position by ejecting the respective one of the fasteners out of the respective retainer assemblies and inserting the respective one of the fasteners into one of the holes of the workpiece;
• and
• wherein each of the retainer assemblies include a compliance apparatus configured to allow the respective one of the fasteners and the respective fingers to move independently of each other to self-align the respective one of the fasteners with the respective one of the holes as the first actuator moves the respective one of the fasteners from the pre-installed position to the installed position.

A method of installing a plurality of fasteners into respective holes of a workpiece, the method comprising:

• installing one of the fasteners in each of a plurality of retainer assemblies of a container of a fastener installation assembly in a pre-installed position, wherein each of the retainer assemblies include a plurality of fingers configured to retain a respective one of the fasteners between the fingers in the pre-installed position;
• aligning one of the fasteners relative to one of the holes of the workpiece;
• operating a first actuator to eject the respective one of the fasteners out of the respective retainer assemblies, wherein the first actuator is disposed proximal to the container;
• and
• inserting the respective one of the fasteners into one of the holes of the workpiece to an installed position via the first actuator, wherein each of the retainer assemblies include a compliance apparatus configured to allow the respective one of the fasteners and the respective fingers to move independently of each other to self-align the respective one of the fasteners with the respective one of the holes as the first actuator moves the respective one of the fasteners from the pre-installed position to the installed position.