Multi-function end effector

A multi-function end effector for mounting at a working end of a motion platform, the end effector comprising:

• a housing;
• a rotatable spindle mounted in an interior of the housing, the spindle having a recess for receiving a tool holder and a tool-gripping assembly operable to releasably grip the tool holder to fix the tool holder in the spindle;
• a spindle feed mechanism connected with the spindle and operable to impart translational motion to the spindle along an axis of the spindle for advancing and retracting the spindle such that a tool held in the tool holder is axially advanced and retracted, advancement of the spindle causing the tool to extend out from the housing for engaging a workpiece to be operated upon, retraction of the spindle causing the tool holder and tool to be withdrawn into the interior of the housing;
• a plurality of tool change mechanisms mounted in the housing, each tool change mechanism having a gripper operable to releasably grip a tool holder having a tool mounted therein and being operable to move from a stowed position in which the gripper is spaced outward from the axis of the spindle, to a tool-change position in which the gripper is coaxially aligned with the axis of the spindle for placing a tool holder held in the gripper in a position to be received by the spindle or for positioning the gripper to receive a tool holder from the spindle;
• and
• a plurality of tool holders each having its own dedicated tool change mechanism, the tool holders comprising at least a first tool holder having a rotary cutter mounted therein for drilling a hole through a workpiece, and a second tool holder in which is mounted a fastener insertion tool structured and arranged to insert a blind fastener into the hole in the workpiece when the spindle is advanced and to rotatably drive one portion of the fastener adjacent an accessible side of the workpiece facing the end effector so as to expand another portion of the fastener adjacent an opposite side of the workpiece.