Abstract:
Method and apparatus for installing a support member to support a flexible element, such as a shipping comb used to support a flexible suspension assembly of a head-stack assembly (HSA). A robotic end effector configured to insert the support member to bias the flexible element. Prior to said insertion, an inspection assembly verifies at least one physical parameter of the member while the member is supported by the end effector. One or more computerized video images along at least one axis are preferably obtained by the inspection assembly, and machine readable code on the member is preferably decoded from said image(s). The end effector preferably includes a pair of opposing gripper fingers which engage the support member with variable compressive force during insertion. A cleaning assembly preferably cleans the support member prior to insertion, and a subsequent video image is preferably obtained after insertion to verify installation of the member.

Description:
FIELD OF THE INVENTION 
     The claimed invention relates generally to the field of automated manufacturing and more particularly, but not by way of limitation, to an apparatus and method for installing a support member to support a flexible element, such as a shipping comb installed onto a head stack assembly (HSA) to temporarily support at least one data transducer of the HSA. 
     BACKGROUND 
     Data storage devices are used to access computerized data in a fast and efficient manner. The data are stored on storage media, such as one or more axially aligned magnetic recording discs accessed by a corresponding array of data transducers. 
     A moveable actuator, also referred to as a head stack assembly (HSA), can be used to controllably advance the transducer(s) adjacent the media. In a disc drive data storage device, the transducers are often supported by flexible suspension assemblies (flexures) which in turn are mounted to rigid actuator arms. The arms are configured for pivotal movement about a pivot bearing assembly located adjacent an outermost diameter of the media. 
     The HSA further supports a coil which is immersed in a magnetic circuit of a voice coil motor. The application of controlled voltage across the coil generates a magnetic field that interacts with the magnetic circuit. This induces rotation of the actuator body about the pivot bearing assembly, and radial movement of the transducers across the media surfaces. 
     It is generally desirable to handle the HSA with extreme care during manufacturing and installation to reduce the potential for damage to the transducers and the flexures. A shipping comb is often installed to provide temporary support of the respective transducers after the HSA has been assembled. The shipping comb is usually designed to remain in place until such time that the HSA is installed onto a data storage device base deck and the transducers are merged with the media. 
     With continued advancements in the art, there is a continual need for improvements in the manner in which shipping combs can be reliably and efficiently installed onto head stack assemblies, and it is to these and other improvements that preferred embodiments of the present invention are generally directed. 
     SUMMARY OF THE INVENTION 
     Preferred embodiments of the present invention are generally directed to an apparatus and method for installing a support member to support a flexible element, such as but not limited to a shipping comb used to support a flexible suspension assembly of a head-stack assembly (HSA). 
     In accordance with preferred embodiments, a robotic end effector is configured to insert the support member to bias the flexible element. An inspection assembly is coupled to the end effector and which, prior to said insertion, verifies at least one physical parameter of the member while the member is supported by the end effector. 
     Preferably, the inspection assembly comprises a vision system which obtains a computerized video image of the support member along at least one axis. The vision system preferably further decodes a machine readable code on the support member from said video image. The vision system further preferably obtains a video image of the support member after insertion by the end effector. 
     A singulation assembly is preferably provided to individually present each of a population of nominally identical ones of the support member to the end effector. A motor preferably advances the end effector to insert the support member into a rigid arm that supports the flexible element. A controller preferably provides top level control and monitors current applied to said motor during said insertion. 
     The end effector preferably comprises a pair of opposing gripper fingers which engage an engagement member portion of the support member. A respective pair of sliders provide limited compliance in an axial direction in which the fingers extend (e.g., the z-axis). 
     Preferably, the gripper fingers initially engage the engagement member with a selected compressive force and subsequently move apart to allow the support member to gimbal during installation while the support member remains supported by the gripper fingers. 
     A cleaning assembly preferably performs a cleaning operation upon the support member while the end effector supports the support member and prior to installation of said support member. A discard mechanism preferably removes the support member from the end effector when the support member is determined to be non-compliant. 
     These and various other features and advantages which characterize the claimed invention will become apparent upon reading the following detailed description and upon reviewing the associated drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is an exploded view of a data storage device constructed and operated in accordance with preferred embodiments of the present invention. 
         FIG. 2  is an isometric representation of a shipping comb utilized in accordance with preferred embodiments of the present invention. 
         FIG. 3  is an isometric view of relevant portions of a shipping comb installation station configured to install the shipping comb of  FIG. 2  onto the head stack assembly (HSA) of  FIG. 1 . 
         FIG. 4  provides a functional block representation of relevant portions of the installation station of  FIG. 3 . 
         FIG. 5  is a generalized flow representation to set forth preferred sequential operation of the installation station of  FIGS. 3 and 4 . 
         FIG. 6  is an isometric representation of the indexer assembly of  FIGS. 3 and 4 . 
         FIG. 7  shows additional detail of the installation station. 
         FIG. 8  shows an isometric view of a selected end effector of the indexer assembly. 
         FIG. 9  provides a cut-away view of  FIG. 8 . 
         FIG. 10  is an elevational view of interior portions of the indexer. 
         FIG. 11  provides a top plan view of the HSA of  FIG. 1 . 
         FIG. 12  shows an isometric view of the end effector and the HSA during initial stages of installation of the shipping comb onto the HSA. 
         FIG. 13  provides an elevational, partial cross-sectional view of  FIG. 12 . 
         FIG. 14  provides an elevational, partial cross-sectional view to illustrate continued installation of the shipping comb. 
         FIG. 15  provides another elevational, partial cross-sectional view with the shipping comb fully seated onto the HSA. 
         FIG. 16  provides an elevational, schematic depiction of the shipping comb in an installed position after rotation from the position of  FIG. 12 . 
         FIG. 17  shows a top plan representation of the shipping comb in the orientation of  FIG. 13 , as well as retraction of the manufacturing support fingers and ramp load supports of  FIG. 16 . 
     
    
    
     DETAILED DESCRIPTION 
       FIG. 1  shows an exploded view of a data storage device  100  to provide an exemplary environment in which preferred embodiments of the present invention can be advantageously practiced. The device  100  is preferably characterized as a hard disc drive of the type used to store and retrieve digital data in a host system or device. 
     The device  100  includes a rigid, environmentally controlled housing  102  formed from a base deck  104  and a top cover  106 . A spindle motor  108  is mounted within the housing  102  to rotate a number of data storage media  110  at a relatively high speed. 
     Data are arranged on the media  110  in concentric tracks which are accessed by a corresponding array of data transducing heads  112 . The heads  112  (transducers) for a portion of a head stack assembly (HSA)  114 . The HSA  114 , or actuator, includes a plurality of flexible suspension assemblies (flexures)  116  which extend from an associated number of rigid actuator arms  118 . A head  112  is preferably supported at the distal end of each flexure  116 , as shown. 
     The HSA  114  is configured for rotation about a pivot bearing assembly  120  through application of a control voltage to a voice coil motor (VCM)  122 . A flex circuit assembly  124  electrically connects the heads  112  and VCM  122  of the HSA  114  with control circuitry on an externally mounted printed circuit board, PCB  126 . 
     As explained in greater detail below, the HSA  114  is preferably characterized as a stacked assembly formed from a number of stamped actuator arms and spacers, although such is not limiting. 
     A shipping comb  130  is depicted in  FIG. 2 . The shipping comb  130 , also referred to herein as a support member, is preferably used during manufacturing of the device  100  to temporarily support the transducers  112  after HSA fabrication and prior to HSA installation. 
     The particular configuration of the shipping comb  130  will generally be adapted to the requirements of a given application, so that the shipping comb  130  as shown in  FIG. 2  is generally illustrative of a preferred embodiment and is not limiting. 
     The comb  130  is preferably formed from a suitable strong, nonmarring and nonparticulating material such as injection molded plastic. As shown in  FIG. 2 , the comb  130  includes curvilinearly extending body  132 . An insertion pin  134  and an engagement member  136  extend in opposing directions from a proximal end of the body  132 . Flexure support arms  138 ,  140  are supported at a distal end of the body  132 . A number of HSA engagement arms, numerically denoted at  142 ,  144 ,  146  and  148 , serve to guide and/or retain the comb  130  onto the HSA. 
     Machine readable information is preferably provided on the comb  130  at  150 . The information is associated with the comb  130  and can include lot or mold data associated with the fabrication of the comb  130 , product or version data associated with the HSA  114 , etc. The information can also comprise a serial number or other indicator that uniquely identifies each comb. 
     The information is preferably encoded using two-dimensional (2D) bar coding techniques. The information can be molded, etched or otherwise formed as a portion of the comb  130 , and/or can be subsequently applied to the comb  130  using an adhesive label. Portions of the information can further be distributed along different surfaces of the comb  130 . 
     The device  100  of  FIG. 1  is preferably formed in an automated assembly environment wherein a large population of nominally identical devices are assembled each day. It is contemplated that advanced manufacturing techniques are employed whereby pallets are directed via conveyors through the manufacturing facility to a number of consecutive assembly stations. Specific assembly and/or testing operations are carried out at each station so that the devices are progressively assembled in an automated fashion as the pallets move along the conveyor lines. 
       FIGS. 3 and 4  set forth a shipping comb installation station  160  constructed and operated in accordance with preferred embodiments of the present invention.  FIG. 3  provides a simplified isometric depiction of relevant portions of the station  160 , and  FIG. 4  shows a corresponding functional block representation of the station. 
     The station  160  forms a portion of the aforementioned automated assembly line, and operates to provide automated installation of a population of shipping combs such as shown in  FIG. 2  onto corresponding HSAs  114  as shown in  FIG. 1 . It is contemplated that the HSAs are assembled by an upstream station and are sequentially presented to the station  160  on conveyorized pallets (not shown). 
     A comb  130  is installed onto each HSA  114  by the station  160 . The pallets with the HSA/comb pairs are advanced to a downstream station where the HSAs  114  are installed onto corresponding base decks (such as  102  in  FIG. 1 ), the transducers  112  are merged with the media  110 , and the shipping combs  130  are removed. It is contemplated that the combs  130  are accumulated at this downstream station and periodically returned to the station  160  for reuse. 
     As shown in  FIG. 3 , the station  160  includes a base plate assembly  161  that is preferably supported by a frame (not shown) at a suitable elevation to align the station  160  with the aforementioned upstream and downstream stations. 
     A station controller  162  provides top level station control. The controller  162  preferably comprises a PC or PLC type device with a suitable graphical user interface (GUI). The controller  162  interfaces with a computer network via I/O block  164 . This network is under the control of a top level controller (not shown) that directs overall operational flow of the assembly process and accumulates parametric data from the respective stations. 
     The station controller  162  directs the operation of various subsystems of the station  160 , including a comb singulation assembly  166 , an indexer assembly  168 , a vision system  170 , a transport control system  172 , and a cleaning assembly  174 . 
     The comb singulation assembly  166  generally operates to continually receive a large population of the combs  130  and to singulate, or separate, the combs for individual manipulation by the indexer assembly  168 . With reference again to  FIG. 3 , the comb singulation assembly  166  preferably includes a hopper  176  into which a quantity of the combs  130  are periodically introduced. The hopper  176  feeds the combs  130  into a vibratory bowl  178 . 
     The combs  130  are advanced from the bowl  178  onto a circumferentially extending singulation track  180 , with each comb  130  on the track  180  having a substantially common orientation. The track  180  terminates at an escapement (not visible in  FIG. 3 ) to allow the indexer assembly  168  to individually engage the engagement member  136  of each comb  130  in turn. 
     The vision system  170 , also referred to herein as an inspection assembly, preferably includes a number of digital cameras  182 ,  183  and light sources  184 ,  185  which are mounted to the frame (not shown) to provide optical detection capabilities along multiple axes to obtain computerized video images of the comb  130 . 
     The transport control system  172  includes a conveyor section  186  along which the pallets are controllably advanced and incorporates various sensors, motors, gates, etc. (not separately identified) to this end. Although not shown in  FIG. 3 , additional conveyor sections can be incorporated in parallel to the section  186  to accommodate multiple flow paths for the pallets such as, for example, a bypass return path. 
     Preferred operation of the station  160  is generally set forth by a flow routine  200  of  FIG. 5 . A pick comb operation is represented by step  202 . During this step, the indexer assembly  168  operates to pick (remove) the comb  130  from the escapement portion of the track  180  and move the singulated comb  130  to a predetermined position. 
     An ionized air stream  204  is next preferably applied to the singulated comb  130  by the cleaning assembly  174 . This advantageously serves to remove any contaminating particulates that may remain on the comb  130  after the vibratory operation of the hopper  178  and track  180 . 
     The comb  130  is next visually inspected at step  206 . This step is preferably carried out by the vision system  170  while the indexer assembly  168  orients the comb  130  at the predetermined position. This ensures the shipping comb  130  is not damaged and is in the proper orientation for installation. 
     During this inspection step  206 , at least one, and preferably multiple physical parameters of the shipping comb  130  are detected, such as dimensions of various arms or other locations and surfaces of the combs, shading, color aspects, etc. The machine readable code (information  150 ) is also included in these detected physical parameters. 
     Should the comb  130  be found to be damaged by the operation of step  206 , the flow of  FIG. 5  continues to step  208  wherein the comb is discarded. Preferably, as shown in  FIG. 3  the damaged comb  130  is dropped onto a discard chute  210  and the damaged comb  130  is accumulated in a discard bin  212 . 
     As mentioned previously, the shipping comb information  150  from the comb  130  is preferably read during the inspection step  206 . In this way, if a condition exists whereby this a particular comb  130  should not be used, the station controller  162  can direct the discarding of the comb  130  as discussed above. Reasons why a particular comb  130  might be discarded based on the information  150  include a determination that a particular lot of combs are defective or are out of revision, that the particular comb  130  is not suited for the associated HSA  114  present at the station  160 , that a maximum number of uses of the comb (e.g., five) have already taken place, and so on. 
     The flow of  FIG. 5  continues at step  214  wherein the comb  130  is installed onto the HSA  114 . A detailed explanation of such installation will be provided below. Once installed, a second visual inspection step is preferably performed at step  216  by the vision system  170  to verify proper installation of the comb  130  onto the HSA  114 . 
     If the inspection of step  216  determines that the shipping comb  130  has been improperly installed, the flow of  FIG. 5  continues to step  218  and the assembly is identified for rework. Contrawise, if the comb  130  is verified as being successfully installed, the assembly is cleared for downstream processing by the next station, step  220 . 
     To avoid bottlenecks within the automated line, each station is preferably provided with a common time budget to fully complete the operations associated with the station. It is contemplated that the flow of  FIG. 5  is carried out on each HSA  114  within a time budget of on the order of four seconds. 
       FIG. 6  shows the indexer assembly  168  in greater detail. A pair of robotic end effectors  230  are preferably mounted to opposing sides of a rotatable tower portion  232 . A motor  234  operates in conjunction with a chain drive mechanism  236  to rotate the end effectors  230  between the pick and place positions described above. 
     More specifically, the indexer assembly  168  is configured so that one end effector  230  is adjacent the escapement portion of the vibratory track  180  (pick position) while the other end effector  230  is adjacent the HSA  114  (place position). The respective operations are carried out at these positions, after which the motor  234  rotates 180 degrees so that the end effectors  230  are brought to the other respective pick and place positions. 
     The motor  234  preferably reverses the rotational direction each time (e.g., clockwise, then counter-clockwise), although in alternative embodiments the motor  234  can be configured to selectively advance the end effectors  230  in a common rotational direction (e.g., clockwise each time). 
     Additional chain drive mechanisms  238  and motors  240  independently and selectively move the end effectors  230  up and down relative to the tower  232 . Motors  239  and  241  independently and selectively rotate the respective end effectors  230  relative to the tower  232 . 
       FIG. 7  shows relevant portions of the station  160  to provide additional detail with regard to the pick and place positions. The vibratory track  180  terminates at the aforementioned escapement portion, numerically denoted at  242 . The escapement  242  includes first and second gate assemblies  244 ,  246  which successively separate the combs  130  for engagement by the associated end effector  230 . 
     Once a comb  130  is removed from the escapement  242  by the end effector  230 , the ionized air stream is applied via applicator  248  (step  204 ), and the comb is visually inspected (step  206 ). This is preferably carried out by camera  182  ( FIG. 3 ) which is disposed over this location, and by a second camera (not shown) which provides a horizontal view of the singulated comb  130 . The end effector  230  is preferably rotated by the associated motor  239 ,  241  so that the second camera obtains both side and end view images of the comb  130 . 
     To discard the comb  130  (step  208  in  FIG. 5 ), a cantilevered gripper arm  250  engages the pin  134  of the comb ( FIG. 2 ) between a pair of opposing compliant jaws  252 . The arm  250  then rotates and drops the rejected comb  130  into a guide portion  254  of the discard chute  210 . 
       FIG. 7  further shows a datum plate  260  adjacent the place position (for reference, the datum plate was omitted from  FIG. 3 ). A pallet is shown at  262 . During operation, the pallet  262  is advanced along the conveyor  186  and then raised and clamped to the underside of the plate  260 . Keyed pins such as at  264  are preferably used to locate the pallet  262  in a desired orientation. 
     The pallet  262  is shown to support an assembled HSA  114 , and includes an aperture  266  to allow access to the HSA  114  from below. It will be appreciated that the stacked HSA  114  is preferably formed in an inverted manner so that the top of the HSA  114  is in facing relation to the pallet  262 . Thus, the shipping comb  130  is inserted by the end effector  250  from underneath. The visual inspection of step  216  is preferably carried out by camera  183  from above. 
     For reference, in a subsequent station downstream from the station  160 , the HSA  114  is inverted to the normal upright position shown in  FIG. 1 , merged with the media  110 , and the shipping comb  130  is retracted upwardly from the HSA  114 . 
     As mentioned previously, the HSA  114  is preferably a stacked actuator which is assembled on the pallet  262  by an upstream station. A number of staggered pallet keys  268 ,  270 ,  272  are sequentially laid down during this process and preferably remain interposed within the HSA  114  when the HSA reaches the station  160 . 
       FIG. 8  shows relevant portions of a selected one of the end effectors  230  of  FIG. 6 . The end effector  230  includes a housing  274  from which extend a tandem pair of gripper fingers  276 ,  278 . As further shown in  FIGS. 9 and 10 , the fingers  234  are respectively coupled to z-axis sliders  280 ,  282  to allow a limited amount of movement in the z-axis (vertical direction). 
     An internal coiled spring (not shown) is coupled to each of the fingers  276 ,  278  so that the fingers  276 ,  278  are nominally biased upwardly in the position shown by finger  276  in  FIG. 10 . The springs preferably provide a relatively low amount of force so that the fingers are easily deflected downwardly in the z-axis, as represented by finger  278  in  FIG. 10 . Upper limit stops  284 ,  286  and lower limit stops  288 ,  290  respectively provide rigid surfaces to serve as overall limits for the axial movement of the fingers  276 ,  278 . 
     As best shown in  FIG. 9 , a rack and pinion arrangement is preferably used to advance the fingers  276 ,  278  toward and away from each other (i.e., along the x-axis). More specifically, slider  280  is affixed to a first rack  292  and slider  282  is affixed to a second rack  294 . A pinion gear  296  engages the respective racks  292 ,  294  and is selectively rotated by a stepper motor  298 . A closed loop servo control circuit (not shown) is provided to precisely advance and retract the fingers  276 ,  278 . 
     It will now be understood that the indexer assembly  168  ( FIG. 6 ) is preferably provided with at least nine degrees of freedom: (1) rotation of the respective end effectors  230  through an arc of 180 degrees between the pick and place positions; (2-3) individual z-axis movement of the respective end effectors  230  by way of drive mechanisms  238  and motors  240 ; (4-5) individual rotation of the respective end effectors  230  by way of motors  239  and  241 ; (6-7) z-axis compliance of the fingers  276 ,  278  of the respective end effectors  230 ; and (8-9) x-axis movement of the fingers  276 ,  278  of the respective end effectors  230 . Suitable feedback and control circuitry is provided to accommodate and control these respective ranges of motion. 
     Additional details with regard to the preferred insertion sequence will now be discussed.  FIG. 11  shows a top plan view of the HSA  114 . Features of interest include shipping comb insertion apertures  300  which extend through each of the actuator arms  118  to accommodate the shipping comb pin  134 . Conventional lightening holes are additionally preferably provided at  302 ,  304  and  306 . It will be appreciated that other configurations, including configurations with different hole patterns and configurations without holes at all can readily be utilized as desired. 
     A bearing cartridge aperture  308  accommodates the bearing assembly  120  ( FIG. 1 ). A yoke portion  310  supports a coil  312  of the VCM  122 , and a flex support arm  314  supports and guides flex circuit portions of the flex assembly  124 . A preamp board  316  of the flex assembly  124  is preferably mounted to the side of the HSA  114  and supports a preamplifier/driver circuit device  318 . 
     Fasteners  320  preferably engage and clamp the HSA  114  to form an integrated assembly, although other configurations can be utilized as well. Each of the transducers  112  preferably includes a load tab  322  to facilitate ramp load/unload operations by the device  100 . In this way, the transducers  112  can be safely parked on a ramp structure (not shown in  FIG. 1 ) at times of device deactivation. 
     As further depicted by  FIG. 12 , the HSA  114  is formed from four nominally identical actuator arms  118 . Each arm  118  is preferably stamped from stainless steel, and supports a corresponding one of the flexures  116 . The middle two arms are mounted together to form a single composite arm. A pair of spacers  324 ,  326  are interposed between the arms  118  to provide the requisite separation to accommodate the media  110 . Preferably, the spacer  326  includes the yoke  310 , coil  312  and flexure support arm  314  of  FIG. 11 . 
     Referring again to  FIG. 2 , the engagement member  136  of the shipping comb  130  preferably comprises an elongated post section  328  which supports a slightly larger flange portion  330  at a distal end thereof. As best shown in  FIG. 10 , recesses  332 ,  334  are preferably formed in the respective gripper fingers  276 ,  278  of the assembly station  160 . As shown in  FIG. 12 , the recesses  332 ,  334  are preferably sized to engage the portion  330  of the comb in a desired orientation. 
     An elongated extension  336  of the portion  330  helps to ensure that the shipping comb  130  is maintained in a desired angular orientation relative to the fingers  276 ,  278 . It will be understood that the fingers  276 ,  278  initially grasp the flange portion  330  in this way at the pick position and generally maintain this orientation until the comb  130  is released at the place position, except as noted below. 
     During the insertion step  214  of  FIG. 5 , the fingers  276 ,  278  rapidly advance the shipping comb  130  upwardly to a position adjacent the lowermost arm  118 , as depicted in  FIGS. 12 and 13 . At this point, and while the shipping comb  130  continues to move upwardly, the fingers  276 ,  278  are preferably opened slightly; that is, moved apart in the x-axis direction, as shown in  FIG. 14 . This provides a slight amount of x-y compliance to the shipping comb  130 , in addition to the z-axis compliance provided by sliders  280 ,  282 , allowing the comb to gimbal by a selected, controlled amount in multiple axes during insertion. 
     Such gimballing of the comb  130  is not necessarily required, but has been found advantageous because of the associated reduction of insertion force encountered by the HSA  114 . Relaxing the grip of the fingers  276 ,  278  upon the shipping comb  130  serves to generally decouple the mass of the end effector  230  from the comb so that the insertion force is generally limited to the mass of the comb  130 . This generally allows a faster insertion cycle time. 
     Moreover, because the arms  118  are preferably stamped, the pin apertures  300  may each have a sharp break transition which, if sufficient force is applied, may tend to shave off particulates from the chamfered end of the pin  136 . Thus, allowing a slight amount of gimballing of the comb  130  in this manner preferably allows the insertion operation to take place faster with reduced risk of damage to the HSA  114  and to the comb  130 . 
       FIG. 15  shows the comb  130  in a fully seated position with respect to the HSA  114 . It will be noted that the pin  134  does not extend through the pin aperture  300  of the bottom arm (the bottom arm being the topmost arm in  FIG. 15  due to the aforementioned inversion of the HSA  114 ). In alternative embodiments, the pin  134  can be elongated (or shortened) as desired depending on the needs of a given application. 
     Preferably, the current applied to the associated motor  240  during the insertion process is monitored and compared to a current limit threshold. If this threshold is reached, the insertion process is aborted and the comb  130  is retracted. The station controller  162  notifies the network controller of the adverse condition, allowing the HSA  114  to be redirected downstream for appropriate actions. 
     Moreover, in a preferred embodiment the insertion current profile is sampled and reported to the network controller irrespective of whether the rejection threshold is reached. This information, along with information gleaned from various other operations, is stored for future reference and trend analysis. 
     In this way, should a subsequent failure event occur during manufacturing or field use, failure analysis and reliability monitoring may be able to tie the failure event back to an anomalous insertion of the shipping comb (e.g., a spike or other anomalous current event in the profile may indicate a bad batch of shipping combs, etc.) or other event during the operation of the station  160 . 
     Once the comb  130  is fully seated as shown in  FIG. 15 , ramp support members  340  ( FIG. 16 ) are automatically rotated to engage the load tabs  322  ( FIG. 11 ) of the respective transducers  112 . The ramp support members  340  support the flexures  116  and allows the automated retraction of the various pallet keys, at least including the keys  268  from the flexures  116 . 
     The end effector  230  is then rotated (via respective motor  239  or  241 ) to bring the flexure support arms  138 ,  140  into supporting engagement with the flexures  116 , as shown in  FIG. 16 . The various arms  142 ,  144 ,  146  and  148  of the comb  130  also engage the HSA  114  during this rotation, resulting in the final orientation shown in  FIG. 17  (bottom up view). 
     The various preferred embodiments presented herein provide several advantages over the prior art. Visual inspection of the combs both before and after installation, while not required, advantageously verify proper installation of the shipping comb  130  onto the HSA  114 . Detection of the machine readable code from the comb information  150  during one (or both) of these steps further allows information to be gathered with regard to that particular shipping comb, which allows the comb to be discarded as necessary prior to installation. 
     The cleaning operation provided by the assembly  174  helps to ensure undesired particulates from the combs or from other sources are transferred to the HSA  114 . The gimballing operation preferably allows the insertion process to be carried out quickly with reduced potential for damage to the HSA  114  and/or the comb  130 . Monitoring of the insertion force by way of the current profile further allows the insertion force to be measured during insertion for future reference and failure analysis efforts. Also, variations with regard to inspection criteria, insertion force and insertion technique, etc. are substantially eliminated. 
     While preferred embodiments have been directed to the installation of a shipping comb onto an HSA, it will be appreciated that this is merely exemplary in nature, and is in no wise limiting to the scope of the claimed subject matter. Rather, the disclosed system can readily be adapted for any number of environments wherein support members are placed onto flexible elements. 
     It will thus be understood that even though numerous characteristics and advantages of various embodiments of the present invention have been set forth in the foregoing description, together with details of the structure and function of various embodiments of the invention, this detailed description is illustrative only, and changes may be made in detail, especially in matters of structure and arrangements of parts within the principles of the present invention to the full extent indicated by the broad general meaning of the terms in which the appended claims are expressed. 
     In addition, although the embodiments described herein are generally directed to a disc drive automated assembly process, it will be appreciated by those skilled in the art that the claimed subject matter is not so limited and various other applications and environments can readily be utilized without departing from the spirit and scope of the claimed invention.