HK40076976A - System and method for automated assembly of components - Google Patents

Description

System and method for automated assembly of components

Cross Reference to Related Applications

This application claims priority to U.S. patent application Ser. No. 17/171688 (pending), filed on 9/2/2021, which in turn claims priority to U.S. provisional patent application Ser. No. 63/006491 (pending), filed on 7/4/2020, the disclosure of which is incorporated herein by reference in its entirety.

Technical Field

The present invention relates generally to automated manufacturing systems, and more particularly to systems and methods for automated assembly of components.

Background

Automation plays an increasingly important role in the manufacture and assembly of products. As manufacturing systems become more and more automated, there is a corresponding increased use of robotic manipulators for manufacturing, processing and assembling components and sub-components into end products. One example of such an automated manufacturing system can be found in the automotive industry, where automated manufacturing lines assemble complete vehicles from component parts. Many automated manufacturing systems utilize assembly lines with multi-axis robotic manipulators that cooperate in a coordinated manner to process and assemble components into the desired end product. Typically, these multi-axis robotic manipulators include a plurality of serially arranged links that are moved by motors to perform handling and assembly functions.

As these manufacturing systems have become more automated, the tolerances between the assembled components have become smaller and smaller. While conventional six degree-of-freedom manipulators provide the required flexibility for these highly automated manufacturing systems, the construction of a robotic manipulator with links arranged in series can result in looser tolerances (loose) in the assembled components, or require frequent calibration of the robotic manipulator to ensure that tight tolerances are achieved and maintained. Accordingly, there is a need for an improved automated system that facilitates the rapid, efficient, and repeatable assembly of components into a final product, and that overcomes these and other shortcomings of current automated manufacturing systems.

Disclosure of Invention

A system and associated method for automated assembly of components to workpieces on an assembly line is provided. While the invention will be described in conjunction with certain embodiments, it will be understood that they are not intended to limit the invention to these embodiments. On the contrary, the invention includes all alternatives, modifications and equivalents as may be included within the spirit and scope of the disclosure.

In one aspect, an exemplary system for automatically manipulating components to be assembled onto a product on an assembly line includes a carriage supported on a frame that positions the system adjacent the assembly line. The carriage is movable to and between a first retracted position spaced at a distance from the assembly line and a second working position displaced from the retracted position in a direction towards the assembly line. The carriage supports a multi-axis articulated manipulator, which in turn supports a component mounting tool configured to receive and support at least one component for assembly to a product. When the carriage is in the first position, the operator may be arranged in a first orientation, and when the carriage is in the second position, the operator may be pivoted to a second orientation, such that when the carriage is in the first position, the member on the member mounting tool is supported in a pose for handling, and when the carriage is in the second position, the member is supported in a pose for coupling to the product.

In another aspect, a method of handling components to be assembled onto a product on an assembly line includes receiving a component on a component installation tool at a first retracted position spaced from the assembly line and moving the component installation tool in a direction toward the assembly line to a second working position. In the first position, the component installation tool is in a first pose adapted to facilitate receiving or handling of the component. In the second position, the component installation tool is in a second pose adapted to facilitate joining of the component to the product.

The following exemplary embodiments identify various aspects of an automated system and associated method for assembling components in accordance with the principles of the present disclosure.

Exemplary embodiment 1. A system for automatically handling components to be assembled onto a product on an assembly line, the system comprising:

a frame positionable adjacent to an assembly line;

a carriage supported on the frame for movement to and between a first retracted position spaced a distance from the assembly line and a second working position displaced from the retracted position in a direction towards the assembly line;

a multi-axis articulated manipulator supported on the carriage, the manipulator comprising a base coupled to the carriage, and a tool mounting plate controllably movable with respect to the base in at least three degrees of freedom;

the operator base is disposed in a first orientation when the carriage is in the first position and the operator base is pivoted to a second orientation when the carriage is in the second position; and

a component mounting tool coupled with the tool mounting plate of the manipulator, the component mounting tool configured to receive and support at least one component for assembly to a product;

wherein when the carriage is in the first position, the member on the member mounting tool is supported in a pose for loading and/or handling, and when the carriage is in the second position, the member is supported in a pose for attachment to the product.

Exemplary embodiment 2. The system of exemplary embodiment 1, wherein the component installation tool is variably configurable to support different components having different geometries.

Exemplary embodiment 3. The system of any of exemplary embodiments 1-2, wherein the component installation tool comprises:

a tool frame coupleable with a tool mounting plate of the manipulator;

at least one shaft assembly supported on the tool frame;

each shaft assembly comprises:

at least one of the trunnions is,

a shaft supported on the at least one trunnion,

at least one gripping member mounted on the shaft and actuatable to supportably engage the member.

Exemplary embodiment 4. The system of example 3, wherein the at least one shaft assembly comprises a first shaft assembly and a second shaft assembly supported on the tool frame.

Exemplary embodiment 5. The system of any of exemplary embodiments 3-4, wherein:

each shaft assembly includes a plurality of gripping members positioned at different circumferential locations around the shaft;

wherein the grip component positioned at different circumferential positions about the shaft is configured to engage components having different geometries; and is

Each shaft is rotatable relative to the tool frame about the longitudinal axis of the shaft, whereby a selected gripping member is positioned for engagement with the component by rotation of the respective shaft.

Exemplary embodiment 6. The system of any of exemplary embodiments 3-5, wherein the at least one gripping member comprises a plurality of gripping members, the gripping members configured as air manipulators adapted to sealingly engage the component when vacuum pressure is supplied to the air manipulators.

Exemplary embodiment 7. The system of example 6, wherein:

each shaft assembly includes a plurality of air manipulators positioned at different circumferential locations about the shaft;

wherein the air manipulators at different circumferential positions about the shaft are configured to engage components having different geometries; and is provided with

Each shaft is rotatable relative to the tool frame about the longitudinal axis of the shaft, whereby a selected air manipulator is positioned for engagement with the member by rotation of the respective shaft.

Exemplary embodiment 8. The system of one of the example embodiments 5 or 7, further comprising:

a locking assembly on the tool frame and operable to lock the shaft against rotation relative to the tool frame.

Exemplary embodiment 9. The system of any of example embodiments 6-8, further comprising:

at least one passageway through the shaft and configured to provide selective communication between the vacuum pressure source and the at least one air handler, whereby when the air handler is positioned to engage the component, vacuum pressure is provided to the air handler.

Exemplary embodiment 10. The system of any of exemplary embodiments 1-9, wherein the operator comprises:

at least three linkage mechanisms coupled between the operator base and the tool mounting plate;

each linkage mechanism having a first end pivotally coupled to the tool mounting plate;

each linkage has a second end opposite the first end and coupled with the operator base for controllable movement along at least one translational axis in a plane parallel to the base.

Exemplary embodiment 11. The system of exemplary embodiment 10, wherein at least three linkages have a fixed longitudinal length.

Exemplary embodiment 12. The system of example embodiment 10, further comprising:

at least one actuator disposed between the second end of each respective linkage and the base.

Exemplary embodiment 13. The system of example embodiment 12, wherein the at least one actuator comprises a first actuator and a second actuator disposed between the second end of each respective linkage and the base.

Exemplary embodiment 14. The system of example embodiment 13, wherein the first actuator associated with each linkage is a linear actuator arranged to control movement of the respective second end in a first direction, and the second actuator is a linear actuator arranged to control movement of the respective second end in a second direction orthogonal to the first direction.

Exemplary embodiment 15. A method of handling components to be assembled to a product on an assembly line, the method comprising:

receiving the component on the component installation tool at a first retracted position spaced from the assembly line, wherein the component installation tool is in a first pose adapted to facilitate receiving or handling the component;

the component on the component mounting tool is moved in a direction towards the assembly line to a second working position in which the component mounting tool is in a second pose adapted to facilitate joining of the component to the product.

Exemplary embodiment 16. The method of example embodiment 15, wherein:

the component mounting tool is supported on a multi-axis manipulator having a manipulator base; and is provided with

Moving the component on the component installation tool to the second working position includes moving the operator base from a first pose at the first position to a second pose at the second position having a different orientation.

Exemplary embodiment 17. The method of any one of exemplary embodiments 15-16, wherein:

the component installation tool includes at least one air handler configured to sealingly engage the component using vacuum pressure; and is

The method further includes selectively providing vacuum pressure to at least one air handler.

Exemplary embodiment 18. The method of example embodiment 17, wherein:

the at least one air handler includes a plurality of air handlers configured to sealingly engage components having different geometries; and is

The method further includes selectively indexing at least one of the plurality of air manipulators into a position and orientation for sealingly engaging the member.

Exemplary embodiment 19. The method of example embodiment 18, further comprising:

in cooperation with indexing, selectively providing vacuum pressure to at least one air handler.

Exemplary embodiment 20. The method of any of example embodiments 15-19, further comprising at least one of:

adding a sub-component to the component while the component is supported on the component installation tool at the first position; or

The manufacturing process is performed on the component while the component is supported on the component installation tool at the first position.

The above and other objects and advantages of the present invention will become apparent from the accompanying drawings and the description thereof.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and, together with a general description of the invention given above, and the detailed description given below, serve to explain the principles of the invention.

FIG. 1 is a schematic plan view of an exemplary manufacturing facility including a system for manipulating components according to the principles of the present disclosure.

Fig. 2 is a perspective view of an exemplary system for manipulating a component according to the principles of the present disclosure.

Fig. 3A is a partial elevational view of the system of fig. 2, illustrating the carriage supported in a first retracted position.

Fig. 3B is a partial elevational view similar to fig. 3A and illustrating the carriage in a second position.

Fig. 4 is a detailed perspective view of an exemplary multi-axis articulated manipulator in the system of fig. 2, according to the principles of the present disclosure.

Fig. 5 is a detailed perspective view of an exemplary component installation tool in the system of fig. 2, according to the principles of the present disclosure.

Fig. 6 is a cross-sectional view of the component installation tool of fig. 5 taken along line 6-6.

Detailed Description

FIG. 1 depicts an exemplary manufacturing plant 10 including an exemplary system 12 for automatically manipulating (handle) components to be assembled onto workpieces 14 moving along a manufacturing assembly line 16 in accordance with the principles of the present disclosure. In the illustrated embodiment, manufacturing facility 10 includes a plurality of individual manufacturing units 18a, 18b, 18c, 18d positioned near manufacturing assembly line 16 and disposed on either side of assembly line 16. The assembly line 16 may include a transport structure (not shown) for automated movement of the workpiece 14 along the assembly line 16, such as in the direction of arrow 20, whereby the workpiece 14 may be positioned adjacent to a plurality of manufacturing cells 18a-18d and an automated system, such as a robotic manipulator, may assemble components onto the workpiece 14 or process the workpiece 14 as part of the manufacturing process. In the illustrated embodiment, the workpieces 14 are depicted as motor vehicles, and the cells 18a-18d of the manufacturing facility 10 are configured to assemble components to vehicle bodies or perform various processing steps as may be desired. Although the exemplary embodiment is illustrated and described herein as a manufacturing plant 10 having units 18a-18d adapted to assemble and process vehicles, it will be appreciated that the manufacturing plant 10 and units 18a-18d may alternatively be configured to produce various other products.

With continued reference to fig. 1, an exemplary manufacturing unit 18a may include an exemplary component handling system 12 according to the principles of the present disclosure. Component handling system 12 may be disposed in cell 18a in the vicinity of a plurality of robotic manipulators. For example, first robotic manipulator 22a may be configured to pick one or more components from a supply (not shown) and position the components on or within component handling system 12. First robotic manipulator 22a may be located within manufacturing unit 18a, or alternatively, may be positioned adjacent to manufacturing unit 18a and may be configured to extend within manufacturing unit 18a in cooperation with component handling system 12. Additional robotic manipulators 22b, 22c may be positioned within cell 18a and may be configured to cooperate with component handling system 12 to facilitate assembly and/or processing of components positioned by component handling system 12 for assembly onto workpiece 14. While the exemplary manufacturing unit 18a has been shown and described herein as including several robotic manipulators 22a, 22b, 22c that cooperate with the component handling system 12, it will be appreciated that various other configurations of manufacturing units may alternatively be used.

With continuing reference to FIG. 1, and with further reference to FIGS. 2, 3A, and 3B, an exemplary component handling system 12 in accordance with the principles of the present disclosure is depicted in greater detail. In the illustrated embodiment, component handling system 12 may be supported on a frame 30 for positioning within manufacturing unit 18a and adjacent to manufacturing line 16. Exemplary component handling system 12 includes a multi-axis articulated manipulator 32 supported on frame 30 by a carriage 34. The carriage 34 is supported on the frame 30 for movement to and between a first retracted position spaced from the assembly line (as depicted in fig. 3A) and a second working position displaced from the retracted position in a direction towards the assembly line 16 (as depicted in fig. 3B). In the illustrated embodiment, the carriage 34 is selectively moved between the first and second positions by an actuator 26 having an extendable rod 28. However, it will be appreciated that various other mechanisms suitable for moving carriage 34 between the first and second positions may be used.

The exemplary component handling system 12 further includes a component mounting tool 36 coupled with the multi-axis manipulator 32 and configured to receive and support at least one component 38 for assembly to the workpiece 14. In the illustrated embodiment, the member 38 is illustrated as a door that will be mounted to the vehicle body as the vehicle body moves along the assembly line 16 and is positioned adjacent the manufacturing unit 18 a. Although the component 38 is shown and described herein as a vehicle door, it will be appreciated that in other embodiments, various other components may be received on the component installation tool 36 for processing and/or assembly onto a workpiece. As a non-limiting example, an automotive component (such as a body panel, handle, or hinge), or even a non-automotive component, may be received and supported on the component installation tool in accordance with the principles of the present disclosure.

As shown in fig. 3A, when the carriage 34 is in the first retracted position, the mounting tool 36 is oriented and positioned to receive the component 38 and to support the component 38 in a pose that facilitates further handling of the component 38, such as by a robotic manipulator 22a positioned near the component handling system 12. As a non-limiting example of the illustrated embodiment, a member 38 in the form of a vehicle door may be supported with the interior side of the door facing upward to thereby facilitate positioning and attachment of the sub-members to the door. Advantageously, the first position of carriage 34 facilitates loading and handling of components and subcomponents while workpiece 14 is moved between manufacturing cells 18a-18d of manufacturing assembly line 16, thereby providing an increase in throughput efficiency. When the carriage 34 is then moved to the second working position as depicted in fig. 3B, the mounting tool 36 moves translationally with the carriage 34, and also moves in a curvilinear manner such that the mounting tool 36 supports the member 38 in a second posture that facilitates joining the member 38 to the workpiece 14. For example, in the illustrated embodiment, the member 38 may be supported in a generally vertical orientation of the door corresponding to how the door is to be attached to the vehicle body (workpiece 14).

The component handling system 12 may also be provided with various sensors for monitoring and facilitating operation of the component handling system 12. In the illustrated embodiment, the system 12 may further include one or more optical sensors or cameras 40 positioned at various suitable locations on or near the manipulator 32, carriage 34, and/or component mounting tool 36. For example, the optical sensor 40 may be supported on a separate support frame 42, or may be coupled with the frame 30 or other structure as may be desired. By way of non-limiting example, other sensors may include one or more non-contact proximity sensors 44 positioned on or near component handling system 12 and configured to sense the presence of workpiece 14 near component handling system 12. Other sensors may be used to confirm the presence and/or attitude of the components supported on the component installation tool 36. The signals or data obtained from the sensors 40, 44 may be provided to a controller or other suitable computer and used to control and/or monitor the operation of the component handling system 12.

With continuing reference to fig. 2, 3A, and 3B, and with further reference to fig. 4, exemplary multi-axis articulating manipulator 32 will be described in greater detail. In the illustrated embodiment, the operator 32 includes a base assembly 50 that couples the operator 32 to the carriage 34 for movement with the carriage 34 between the first and second positions on the frame 30. A plurality of linkages 52 are coupled with a base plate 54 of the base assembly 50 and are configured to support a tool mounting plate 56 on opposite ends thereof for coupling with the component mounting tool 36. In the illustrated embodiment, the operator 32 includes three fixed length linkages 52 coupled at a first end 58 thereof to the base plate 54, and a second end 60 of the linkages 52 is coupled with the tool mounting plate 56. The first ends 58 of the linkages 58 are coupled to the base plate 54 by respective pivot joints 62 and at least one actuator configured to controllably move the second ends 60 of the linkages 52. By coordinated movement of the second end 60 of the linkage 52, the attitude (position and orientation) of the tool mounting plate 56 can be precisely controlled. In the illustrated embodiment, the first end 58 of each linkage 52 is coupled to the base plate 54 by a pair of linear actuators 66a, 66b arranged to control movement of the first end 58 of the linkage 52 in respective first and second directions 68, 70 arranged orthogonally to one another. The second ends 60 of the linkages 52 are coupled to the tool mounting plate 56 by respective swivel joints 72 such that the attitude of the tool mounting plate 56 can be controlled by the selective positioning of the linear actuators 66a, 66b coupled with the respective linkages 52. In use, the multi-axis manipulator 32 facilitates precise positioning of the component 38 supported by the component mounting tool 36 coupled with the tool mounting plate 56 when the carriage 34 is in the second position.

When the carriage 34 is in the first position as shown in fig. 3A, the base plate 54 of the multi-axis manipulator 32 is oriented such that the component mounting tool 36 coupled with the tool mounting plate 56 is in the above-described attitude for receiving and supporting the component 38. As shown in fig. 2 and 3B, when the carriage moves from the first position to the second position, the base plate 54 pivots to the following orientation: causing the component mounting tool 36 coupled with the tool mounting plate 56 to move to the above-described attitude for joining the component 38 to the workpiece 14.

Although the multi-axis manipulator 32 has been shown and described herein as including three fixed-length linkages 52 and linear actuators 66a, 66b coupling the linkages 52 to the manipulator base plate 54, it will be appreciated that various other linkages and actuator arrangements (including variable-length linkages) may alternatively be used to facilitate positioning the tool mounting plate 56 in a desired pose for mounting the member 38 to the workpiece 14.

With continuing reference to fig. 2, 3A and 3B, and with further reference to fig. 5 and 6, an exemplary component installation tool 36 in accordance with the principles of the present disclosure will be described. In the illustrated embodiment, the component mounting tool 36 includes a tool frame 80 configured to couple with the tool mounting plate 56 of the multi-axis manipulator 32. One or more shaft assemblies 82a, 82b are supported on the tool frame 80, and in turn support a gripping member 84 configured to engage and support the component 38 to be mounted to the workpiece 14. In the illustrated embodiment, the installation tool 36 includes a first shaft assembly 82a and a second shaft assembly 82b supported on the tool frame 80. Each shaft assembly 82a, 82b includes a shaft 86a, 86b that is supported for rotation relative to the tool frame 80 by a respective trunnion mount 88. Each shaft 86a, 86b may further include a plurality of gripping members 84 positioned at spaced circumferential locations about the shaft 86. Advantageously, each gripping member 84 may be configured to engage components having different geometries, whereby certain of the gripping members 84 may be selectively positioned to engage components 38 to be assembled to the workpiece 14 by rotating the shaft 86 about its respective longitudinal axis 90a, 90b relative to the frame 80.

As best seen in fig. 6, the component installation tool 36 may further include a locking assembly 92 that cooperates with one or more of the shaft assemblies 82a, 82b to lock the shafts 86a, 86b at a desired rotational position such that a selected gripping member 84 may be positioned to engage the component 38. In the illustrated embodiment, the locking assembly 92 includes an actuator 94 having an extendable rod 96 that engages the associated shaft assembly 82a, 82b to thereby lock the respective shaft 86a, 86b in a desired rotational position. To this end, each shaft assembly 82a, 82b further includes a registration block 98 supported on the shafts 86a, 86b and having a registration feature configured to cooperate with the rod 96 of the locking assembly actuator 94. In the illustrated embodiment, the distal end 100 of the stem 96 has a wedge-shaped tip, and the registration features on the registration block include correspondingly shaped notches 102 disposed at selected angular positions about the axes 86a, 86 b. In use, when the desired grip component 84 is in a position to engage with the member 38, the rod 96 of the locking assembly actuator 94 may extend to engage a corresponding notch 102 provided on the registration block 98, thereby preventing further rotation of the shafts 86a, 86 b.

While the component installation tool 36 has been shown and described herein as including two shaft assemblies 82a, 82b, each having a plurality of gripping members 84 disposed at spaced apart circumferential locations, it will be appreciated that a component installation tool according to the present disclosure may alternatively include only a single shaft assembly, or may include more than two shaft assemblies. Furthermore, when only a single type of component is to be manipulated by the component installation tool 36, or when the components have a sufficiently uniform geometry, the component installation tool 36 may not require multiple distinct gripping members 84 disposed circumferentially about the shaft assemblies 82a, 82b.

In the illustrated embodiment, the gripping component 84 of the component installation tool 36 is configured as an air manipulator adapted to sealingly engage the component when vacuum pressure is supplied to the air manipulator. As best shown in fig. 6, each air handler includes a housing 110 supported on the respective shaft 86a, 86b by a bracket assembly 112. The air handler is provided such that one or more sealing members 116 are configured to sealingly engage the suction face 114 of the member 38, and vacuum apertures 118 formed in the housing 110 communicate with the suction face 114 to provide vacuum pressure sufficient to engage and support the member 38. Vacuum apertures 118 of each air manipulator may be coupled with a vacuum pressure source (not shown) that may be controlled to selectively grip and release member 38.

In the illustrated embodiment, each shaft 86a, 86b includes at least one air passageway 120a, 120b, 120c, 120d through the shaft 86a, 86b and configured to provide selective communication between a source of vacuum pressure and a respective vacuum aperture 118 of the air manipulator, such as via a respective hose (not shown), for example. One or more of the air passages 120a, 120b, 120c, 120d provided through the shafts 86a, 86b of the shaft assemblies 82a, 82b in one embodiment may be configured to provide selective communication between the vacuum pressure source and a selected air handler when the respective shaft 86a, 86b is rotated to a position such that the air handler is positioned to engage the member 38, while the other air passages 120a, 120b, 120c, 120d through the shafts 86a, 86b are not in communication with the vacuum pressure source, whereby no vacuum pressure is provided to the air handler not used to engage the member 38. In the illustrated embodiment, the component installation tool 36 further includes slip rings associated with each shaft assembly 82a, 82b to provide electrical and/or vacuum pressure to the air passages 120a, 120b, 120c, 120d through the shafts 86a, 86 b. An exemplary slip ring that may be used is a Pneumatic Rotary unit (Pneumatic Rotary Union) available from seny rapu electronics ltd, in the broad east of china under part number 3004012.

While the present invention has been illustrated by a description of various embodiments and while these embodiments have been described in considerable detail, it is not the intention of the appended claims to restrict or in any way limit the scope of the invention to such detail. The various features shown and described herein may be used alone or in any combination. Additional advantages and modifications will readily appear to those skilled in the art. The invention in its broader aspects is therefore not limited to the specific details, representative apparatus and method, and illustrative examples shown and described. Accordingly, departures may be made from such details without departing from the spirit or scope of the general inventive concept.

Claims (20)

1. A system for automatically handling components to be assembled onto a product on an assembly line, the system comprising:

a frame positionable adjacent the assembly line;

a carriage supported on the frame for movement to and between a first retracted position spaced from the assembly line by a distance and a second working position displaced from the retracted position in a direction towards the assembly line;

a multi-axis articulated manipulator supported on the carriage, the manipulator including a base coupled with the carriage, and a tool mounting plate controllably movable with respect to the base in at least three degrees of freedom;

the operator base is disposed in a first orientation when the carriage is in the first position and the operator base is pivoted to a second orientation when the carriage is in the second position; and

a component mounting tool coupled with the tool mounting plate of the manipulator, the component mounting tool configured to receive and support at least one component for assembly to the product;

wherein when the carriage is in the first position, a member on the member mounting tool is supported in a pose for loading and/or handling, and when the carriage is in the second position, the member is supported in a pose for attachment to the product.

2. The system of claim 1, wherein the component installation tool is variably configurable to support different components having different geometries.

3. The system of claim 2, wherein the component installation tool comprises:

a tool frame coupleable with the tool mounting plate of the manipulator;

at least one shaft assembly supported on the tool frame;

each shaft assembly comprises:

at least one of the trunnions is,

a shaft supported on the at least one trunnion,

at least one gripping member mounted on the shaft and actuatable to supportably engage the member.

4. The system of claim 3, wherein the at least one shaft assembly comprises a first shaft assembly and a second shaft assembly supported on the tool frame.

5. The system of claim 3, wherein:

each shaft assembly comprises a plurality of gripping members positioned at different circumferential locations around the shaft;

wherein grip components positioned at different circumferential locations around the shaft are configured to engage components having different geometries; and each shaft is rotatable relative to the tool frame about the longitudinal axis of the shaft, whereby a selected gripping member is positioned for engagement with the member by rotation of the respective shaft.

6. The system of claim 3, wherein the at least one gripping member comprises a plurality of gripping members configured as an air manipulator adapted to sealingly engage the component when vacuum pressure is supplied to the air manipulator.

7. The system of claim 6, wherein:

each shaft assembly includes a plurality of air manipulators positioned at different circumferential locations around the shaft;

wherein the air manipulators at different circumferential locations around the shaft are configured to engage components having different geometries; and is provided with

Each shaft is rotatable relative to the tool frame about a longitudinal axis of the shaft, whereby a selected air manipulator is positioned for engagement with the member by rotation of the respective shaft.

8. The system of claim 7, further comprising:

a locking assembly on the tool frame and operable to lock the shaft against rotation relative to the tool frame.

9. The system of claim 7, further comprising:

at least one passageway through the shaft and configured to provide selective communication between a source of vacuum pressure and at least one air manipulator, whereby when the air manipulator is positioned to engage the component, vacuum pressure is provided to the air manipulator.

10. The system of claim 1, wherein the operator comprises:

at least three linkage mechanisms coupled between the operator base and the tool mounting plate;

each linkage having a first end pivotally coupled to the tool mounting plate;

each linkage has a second end opposite the first end and coupled with the operator base for controllable movement along at least one translational axis in a plane parallel to the base.

11. The system of claim 10, wherein the at least three linkages have a fixed longitudinal length.

12. The system of claim 10, further comprising:

at least one actuator disposed between the second end of each respective linkage and the base.

13. The system of claim 12, wherein the at least one actuator comprises a first actuator and a second actuator disposed between the second end of each respective linkage and the base.

14. The system of claim 13, wherein the first actuator associated with each linkage is a linear actuator arranged to control movement of the respective second end in a first direction, and the second actuator is a linear actuator arranged to control movement of the respective second end in a second direction orthogonal to the first direction.

15. A method of handling components to be assembled to a product on an assembly line, the method comprising:

receiving the component on a component installation tool at a first retracted position spaced from the assembly line, wherein the component installation tool is in a first pose adapted to facilitate receiving or handling of the component; and

moving the component on the component installation tool in a direction towards the assembly line to a second working position in which the component installation tool is in a second pose adapted to facilitate joining of the component to the product.

16. The method of claim 15, wherein:

the component mounting tool is supported on a multi-axis manipulator having a manipulator base; and is

Moving the component on the component installation tool to the second working position includes moving the operator base from a first pose at the first position to a second pose at the second position having a different orientation.

17. The method of claim 15, wherein:

the component installation tool includes at least one air handler configured to sealingly engage the component using vacuum pressure; and is provided with

The method further includes selectively providing vacuum pressure to the at least one air handler.

18. The method of claim 17, wherein:

the at least one air handler includes a plurality of air handlers configured to sealingly engage components having different geometries; and is

The method further includes selectively indexing at least one of the plurality of air manipulators into a position and orientation for sealingly engaging the component.

19. The method of claim 18, further comprising:

selectively providing vacuum pressure to the at least one air handler in cooperation with the indexing.

20. The method of claim 15, further comprising at least one of:

adding a sub-component to the component while the component is supported on the component installation tool at the first position; or

A manufacturing process is performed on the component while the component is supported on the component installation tool at the first position.