Here

1
Heres the flange for the robot. Note colors for
locations of pins on interface plate.
Red - Anvil Pin Blue - Other Pins Orange - Spring
Pin
2
Heres the new interface plate. Colors match
previous picture. All are 10 mm high, which is
also the depth of control pin hole. This is the
most shallow hole in the flange.
Red - Anvil Pin Blue - Other Pins Orange - Spring
Pin
3
This is an overhead view of the flange and
interface plate together. Colors are the same
again. Blue pins locate the interface plate to
the plane of the flange and the red pin
constrains rotation. The orange device is a
spring pin to pre-load the other pins and hold
the plate in place.
Interface plate
Light gray circles are features on the tool
flange. Two black circles are edges of flange
and interface plate.
Flange
Red - Anvil Pin Blue - Other Pins Orange - Spring
Pin
4
Dimensions of Spring Pin and General Setup
Lpin Lfull Lrel Lforce Lf Lfull Lrel
½Lforce Lin Lrel Lforce Lin 8 mm
Flange
Lforce
ANVIL
Dfull
PIN
Lin
Drel
Lrel
Lpin
Lf
Dfull
Lfull
Interface Plate
5
Actual Deformation of Spring Pin
10 mm
Deflection y is set at an initial default Y
½(Dfull-Drel)
F
Flange
ANVIL
PIN
Interface Plate