Pneumatic drilling end effector

A drilling end effector comprising:

• a platform;
• a motor coupled to said platform, said motor being operable to drive a drilling member;
• a housing coupled to said platform, said housing substantially enclosing said motor;
• a plurality of photogrammetry targets secured to said housing, said plurality of photogrammetry targets being oriented upon said housing so as to be readily detectable by a photogrammetry sensor for determining the orientation of the drilling end effector;
• a pressure foot member;
• an actuator operably coupled to said platform and said pressure foot member to selectively extend said pressure foot member relative to said platform;
• a collet housing coupled to said pressure foot;
• a vacuum attachment assembly coupled to said collet housing, said vacuum attachment assembly adapted to remove debris during a drilling operation of the drilling end effector;
• and
• a depth control device operable to determine a relative position between said platform and said pressure foot.

A drilling apparatus for use with a robot, said drilling apparatus comprising:

• a platform;
• a motor coupled to said platform, said motor being operable to drive a drilling member;
• a housing coupled to said platform, said housing substantially enclosing said motor;
• a plurality of photogrammetry targets secured to said housing, said plurality of photogrammetry targets being oriented upon said housing so as to be readily detectable by a photogrammetry sensor for determining the orientation of the drilling end effector;
• a pressure foot member;
• an actuator operably coupled to said platform and said pressure foot member to selectively extend said pressure foot member relative to said platform;
• a collet housing coupled to said pressure foot;
• a vacuum attachment assembly coupled to said collet housing, said vacuum attachment assembly adapted to remove debris during a drilling operation of the drilling end effector;
• a micrometer operable to determine a relative position between said platform and said pressure foot, said micrometer coupled to one of the group consisting essentially of said platform, said motor, and said pressure foot;
• and
• a switch member coupled to one of the other of the group consisting essentially of said platform, said motor, and said pressure foot, said switch member outputting a control signal in response to contact from said micrometer.