Reconfigurable end-effectors with articulating frame and indexable master boom

An end-effector attachable to a robotic arm for interacting with a workpiece, comprising:

• an articulating frame mechanically coupled to a master boom;
• the articulating frame comprising a fixed pane hingedly coupled to a rotating pane, and a lockable clutch assembly;
• the rotating pane adjustable to a preferred angular position relative to the fixed pane;
• the lockable clutch assembly lockable at the preferred angular position;
• the fixed pane mechanically coupled to the master boom;
• the articulating frame rotatable around a longitudinal axis of the master boom;
• a tool module mounted on a tubing element of the articulating frame and including a configurable end element for interacting with the workpiece;
• and
• a flexible dress package routing a flexible conductor to the tool module.

Method to set up an end-effector attachable to a robotic arm, the end-effector including a tool module comprising an end element configurable to interact with a workpiece, the end-effector including an articulating frame coupled to a master boom device including a straight boom coupled to an offset boom, the articulating frame comprising a rotating pane hingedly rotatably coupled to a fixed pane, the method comprising:

• placing the end-effector on a setup stand;
• connecting a setup tool to the robotic arm;
• manipulating the tool module with the setup tool, including sliding and swinging the tool module to a preferred XY position relative to the articulating frame with the setup tool and pressing the end element of the tool module to a preferred Z position;
• engaging an input lever of the articulating frame with the setup tool and hingedly rotating the rotating pane relative to the fixed pane to a preferred articulation angle;
• and
• indexably rotating the straight boom relative to the offset boom.