Patent Publication Number: US-2022219917-A1

Title: Emblem installation system and method

Description:
INTRODUCTION 
     The present disclosure generally relates to an emblem installation system and an emblem installation method such as for installing vehicle emblems. 
     Some bodies, such as vehicle bodies, may have multiple adhesive emblems of different sizes, shapes, thicknesses, and contours secured thereto. Typically, installation of such emblems involves multiple steps such as peeling off a tape liner from the adhesive side, placing the emblem on the body, applying pressure with a wet-out roller to wet-out the adhesive, and then peeling away any disposable foam carrier and/or surface liner. The process may be performed manually or robotically. When performed manually, the same size roller is used to wet-out the various size emblems. When performed robotically, a dedicated end effector for a robotic arm may be necessary for picking up and placing each particular emblem on the vehicle, and multiple additional end effectors with different size rollers may be necessary in order to ensure wet-out of the various emblems. In addition to the expense and the space requirements of these multiple tools needed to carry out emblem installation, production time may also be increased due to tool changes that may be needed between the picking and placing and wet-out modes for the same or different emblems. If the process is carried out manually, it is difficult to ensure that desired picking, placement, and wet-out pressures and correct positioning of the emblem on the body are achieved, as these could largely depend upon the operator&#39;s perceived manual pressure and visual accuracy. In some instances, a locking mechanism is incorporated into the roller hardware design to ensure a targeted wet-out force is applied, leading to a uniform force applied to all emblems regardless of the compliant material properties of the emblems. 
     SUMMARY 
     The present disclosure generally relates to an emblem installation system and an emblem installation method. Example implementations include automotive assembly processes, such as installation of emblems on vehicle body panels, and nonautomotive assembly processes. A reconfigurable end effector may be used to reduce cycle time, as it is able to pick up multiple emblems from one location (e.g., from a support) and be moved by a robotic arm for placement of the emblems at different predetermined locations on a work piece (e.g., on a vehicle body), thus achieving multiple installation operations at the second location without returning to the first location (the pick-up location) for each emblem separately and without requiring two different robotic arms and end effectors to accomplish the installation operation simultaneously. Additionally, the end effector may be reconfigured to pick up many differently sized and shaped emblems, avoiding the necessity of having a dedicated end effector for each different emblem. Furthermore, the reconfigurable end effector may be adapted for a hybrid of robotic arm path and application force control according to a force control algorithm for emblem picking, placement, and wet-out. 
     An emblem installation system for installing emblems on a work piece includes an end effector for a robotic arm. The end effector has a base and multiple vacuum gripper modules repositionable along the base in different configurations. The multiple vacuum gripper modules are configured to simultaneously grip multiple emblems and individually release the multiple emblems. For example, the multiple vacuum gripper modules may selectively receive vacuum both individually and collectively. 
     In an embodiment, the emblem installation may include an emblem support platform having multiple through holes and configured to support the multiple emblems. The multiple vacuum gripper modules may extend directly over at least some of the multiple through holes when gripping the multiple emblems to pick the multiple emblems up off of the emblem support platform. In contrast to a solid pick-up surface (e.g., a surface without sufficiently sized through holes), the through holes of the emblem support platform prevent the multiple vacuum gripper modules from becoming accidentally stuck due to the vacuum suction because air can be pulled through the through holes. 
     In an implementation, the base may include a track, and the multiple vacuum gripper modules may be repositionable in the different configurations along the track, such as by sliding the multiple vacuum gripper modules to positions along the track, and locking the multiple vacuum gripper modules in those positions. 
     In an aspect, each of the multiple vacuum gripper modules may include a compliant body configured to resiliently compress to conform to one of the multiple emblems. A compressive stiffness, a thickness, or both a compressive stiffness and a thickness of the compliant body of at least one of the multiple vacuum gripper modules may be different than a compressive stiffness, a thickness, or both a compressive stiffness and a thickness of the compliant body of at least one other of the multiple vacuum gripper modules. Accordingly, the multiple vacuum gripper modules may be somewhat customized in this manner to the contours (e.g., the profile variation), the shape, and compliant material properties of the emblems, such as relative stiffnesses of different portions of an emblem. 
     In addition to the multiple vacuum gripper modules, the end effector may further include a wet-out roller, a first arm extending from the base to at least one of the multiple vacuum gripper modules, and a second arm extending from the base to the wet-out roller. In some implementations, a first pneumatic cylinder may be connected to the first arm, and a second pneumatic cylinder may be connected to the second arm. The emblem installation system may include a pneumatic power source selectively connected to the first pneumatic cylinder and to the second pneumatic cylinder to extend and retract the first arm and the second arm separately from one another. In this manner, only the first arm is extended in a picking mode when the multiple vacuum gripper modules grip the multiple emblems and only the second telescoping arm is extended in a wet-out mode to wet-out the multiple emblems at the different predetermined locations on the work piece. The longitudinal axis of the first telescoping arm may be parallel with a longitudinal axis of the second telescoping arm. In such a configuration, extension of the first and second arms is generally in the same direction, and retraction of the first and second arms is likewise in the same direction, which is opposite to the extension direction, simplifying the path algorithm for the robotic arm. 
     In other embodiments, the end effector further includes a wet-out roller, a first arm extending from the base to at least one of the multiple vacuum gripper modules, and a second arm extending from the base to the wet-out roller, but a longitudinal axis of the first arm is nonparallel with a longitudinal axis of the second arm. In such an embodiment, the robotic arm may rotate the end effector about an axis perpendicular to the longitudinal axes of both arms to move from an emblem placement mode to a wet-out mode. 
     Still further, the reconfigurable, multiple vacuum gripper modules of the end effector enables more localized control of forces on the emblem during pick-up and placement, in addition to force control during wet-out. For example, one or more force sensors may be operatively connected to the multiple vacuum gripper modules and the wet-out roller and operable to indicate an application force of each of the multiple vacuum gripper modules and of the wet-out roller. Additionally, an electronic controller may be in communication with the one or more force sensors and configured to execute a set of stored instructions to apply a force within a first range of forces just prior to or while applying a vacuum to grip the multiple emblems with the multiple vacuum gripper modules, a force within a second range of forces to place the multiple emblems at different locations on the work piece, and a force within a third range of forces to apply the wet-out roller to the multiple emblems on the work piece. These different force ranges may be optimal for the different functions of each mode (picking, placing, and wet-out) of emblem installation. 
     An emblem installation method according to the present disclosure includes applying a force within a first range of forces to the multiple emblems individually and in succession via multiple vacuum gripper modules of an end effector on a robotic arm, with the multiple emblems disposed at a first location (e.g., at the support platform). The method may include monitoring, via an electronic controller, a magnitude of the force applied by the multiple vacuum gripper modules while applying the force within the first range of forces (e.g., to enable adjustment of the application force, if necessary, in order to maintain the force applied by the multiple vacuum gripper modules during the emblem pick-up mode within the first range of forces). The emblem installation method further includes applying a vacuum to the multiple vacuum gripper modules to grip the multiple emblems with the multiple vacuum gripper modules, and moving the robotic arm from the first location to a second location adjacent a workpiece with the multiple emblems gripped by the multiple vacuum gripper modules to transfer the multiple emblems from the first location to the second location. The method includes applying a force within a second range of forces to the multiple emblems individually and in succession via the multiple vacuum gripper modules while releasing the vacuum to the multiple vacuum gripper modules individually and in succession to place the multiple emblems at different predetermined locations on a work piece. This placement of the multiple emblems at the second location is accomplished without the robotic arm returning to the first location (due to the ability of the end effector to carry multiple emblems at once from the first location to the second location). The method includes monitoring, via the electronic controller, a magnitude of the force applied by the multiple vacuum gripper modules while applying the force within the second range of forces (e.g., to enable adjustment of the application force, if necessary, in order to maintain the force applied by the multiple vacuum gripper modules during the emblem placement mode within the second range of forces). 
     In some implementations, the method may include applying a force within a third range of forces to the multiple emblems via a wet-out roller of the end effector to wet-out the multiple emblems on the work piece after placing the multiple emblems at the different predetermined locations on the work piece, and monitoring, via the electronic controller, a magnitude of the force applied by the wet-out roller while applying the force within the third range of forces (e.g., to enable adjustment of the application force, if necessary, in order to maintain the force applied by the wet-out roller during the emblem wet-out mode within the third range of forces). 
     In some implementations, the work piece may be moving while the end effector is applying the force within the second range of forces and the force within the third range of forces (e.g., during the placement mode and the wet-out mode). To account for this movement, the method may include tracking movement of the work piece, and moving the robotic arm in response to the movement of the work piece while applying the force within the second range of forces and the force within the third range of forces. 
     In a configuration, the end effector includes a first arm supporting at least one of the multiple vacuum gripper modules, a second arm supporting the wet-out roller, with a longitudinal axis of the first arm parallel with a longitudinal axis of the second arm. The emblem installation method may further include extending the first arm prior to applying the force within the first range of forces, and retracting the first arm and extending the second arm prior to applying the force within the third range of forces via the wet-out roller. The wet-out roller is thus out of the way, and will not interfere with the emblems during pick-up and placement, and the multiple vacuum gripper modules are out of the way and will not interfere with the emblems during the wet-out mode. 
     In another configuration, the end effector includes a first arm supporting at least one of the multiple vacuum gripper modules, a second arm supporting the wet-out roller, with a longitudinal axis of the first arm nonparallel with a longitudinal axis of the second arm. In such a configuration, the emblem installation method may further include pivoting the robotic arm about an axis perpendicular to both of the longitudinal axis of the first arm and the longitudinal axis of second arm after applying the force within the second range of forces via the at least one of the multiple vacuum gripper modules and before applying the force within the third range of forces via the wet-out roller. The wet-out roller is thus out of the way, and will not interfere with the emblems during pick-up and placement, and the multiple vacuum gripper modules are out of the way and will not interfere with the emblems during the wet-out mode. 
     In some implementations, the multiple emblems may be supported on an emblem support platform having multiple through holes during the emblem pick-up mode. In such an implementation, the emblem installation method may include applying a vacuum to the multiple vacuum gripper modules to pull air through the through holes after applying the first range of forces to the multiple emblems via the multiple vacuum gripper modules to pick up the multiple emblems off of the emblem support platform. 
     In some implementations, the end effector has a base with a track, and the emblem installation method further includes positioning the multiple vacuum gripper modules in a configuration (e.g., a first configuration) corresponding to a dimension of a first emblem and a dimension of a second emblem such that a first subset of the multiple vacuum gripper modules applies the force within the first range of forces and the force within the second range of forces to the first emblem and not to the second emblem, and a second subset of the multiple vacuum gripper modules applies the force within the first range of forces and the force within the second range of forces to the second emblem and not to the first emblem. In the first configuration, the multiple vacuum gripper modules are configured to pick up a first set of multiple emblems. The emblem installation method may further include positioning the multiple vacuum gripper modules in a second configuration corresponding to a dimension of a third emblem and a dimension of a fourth emblem (e.g., a second set of emblems), the dimension of at least one of the third emblem or the fourth emblem being different than the dimension of the first emblem or the dimension of the second emblem, the second configuration different than the first configuration, such that a third subset of the multiple vacuum gripper modules applies the force within the first range of forces and the force within the second range of forces to the third emblem and not to the fourth emblem, and a fourth subset of the multiple vacuum gripper modules applies the force within the first range of forces and the force within the second range of forces to the fourth emblem and not to the third emblem, and either the third subset is different than the first subset or the fourth subset is different than the second subset or both the third subset is different than the first subset and the fourth subset is different than the second subset. 
     Within the scope of the disclosure, an emblem installation system for installing emblems on a work piece may include an end effector for a robotic arm, the end effector having a base and multiple vacuum gripper modules extending from the base. The emblem installation system may further include an emblem support platform having multiple through holes and configured to support the multiple emblems. The multiple vacuum gripper modules may extend directly over at least some of the multiple through holes to pull air through the through holes when gripping the multiple emblems to pick the multiple emblems up off of the emblem support platform. 
     The above features and advantages and other features and advantages of the present disclosure are readily apparent from the following detailed description of the best modes for carrying out the disclosure when taken in connection with the accompanying drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a fragmentary illustration of a work space showing an emblem installation system and a vehicle on which emblems are to be installed. 
         FIG. 2  is a fragmentary illustration of the emblem installation system of  FIG. 1  showing a robotic arm and an end effector with multiple vacuum gripper modules in a first configuration picking up and gripping first and second emblems and showing an emblem support platform supporting emblems. 
         FIG. 3  is a fragmentary side view of the end effector of  FIG. 2  in the process of picking up emblems supported on an emblem support platform shown in cross-sectional view. 
         FIG. 4  is a fragmentary side view of the end effector of  FIG. 2  with the multiple vacuum gripper modules in a second configuration in the process of picking up different emblems supported on the emblem support platform shown in cross-sectional view. 
         FIG. 5  is a bottom view of one of the vacuum gripper modules of  FIG. 1 . 
         FIG. 6  is a rear view of the vehicle of  FIG. 1  with the emblems installed. 
         FIG. 7  is a perspective fragmentary view the emblem installation system of  FIG. 1  showing two vacuum gripper modules gripping an emblem. 
         FIG. 8  is a perspective fragmentary view of the emblem installation system of  FIG. 1  showing a vacuum gripper module gripping an emblem. 
         FIG. 9  is a side view of another embodiment of an end effector for the emblem installation system of  FIG. 1 . 
         FIG. 10  is a side view of the end effector of  FIG. 9  showing multiple vacuum gripper modules in the process of picking up an emblem from the emblem support platform shown in cross-sectional view. 
         FIG. 11  is a side view of another embodiment of an end effector for the emblem installation system of  FIG. 1  mounted on the robotic arm shown in fragmentary view. 
         FIG. 12  is a side view of the end effector of  FIG. 11  with the robotic arm rotated in a first orientation for pick-up and placement of an emblem by one or more vacuum gripper modules of the end effector. 
         FIG. 13  is a side view of the end effector of  FIG. 11  with the robotic arm rotated in a second orientation for wet-out of an emblem by a wet-out roller of the end effector. 
         FIG. 14  is a side view of another embodiment of an end effector for the emblem installation system of  FIG. 1  mounted on the robotic arm shown in fragmentary view and showing a vacuum gripper module extended for pick-up of an emblem from an emblem support platform shown in cross-sectional view, and showing a wet-out roller retracted. 
         FIG. 15  is a side view of the end effector of  FIG. 14  with the robotic arm rotated in a second orientation for placement of the emblem by one or more vacuum gripper modules on a vehicle body. 
         FIG. 16  is a side view of the end effector of  FIG. 14  mounted on the robotic arm at the second location and showing the vacuum gripper module retracted and the wet-out roller extended for wet-out of the emblem on the vehicle body. 
         FIG. 17  is a flow chart of an emblem installation method. 
     
    
    
     DETAILED DESCRIPTION 
     Referring to the drawings, wherein like reference numbers refer to like components,  FIG. 1  shows a work space  10  for vehicle assembly, including a work piece  12 , such as a vehicle  12 , moving in the direction of arrow  14 , such as along automated tracks  16  or otherwise, during an emblem installation process. A first embodiment of an emblem installation system  18  is shown that enables efficient and accurate installation of multiple emblems of different sizes and shapes as discussed herein. Although the work piece is a vehicle  12  in the embodiment shown, the emblem installation system  18  may be used to install emblems on other types of work pieces, such as appliances or furniture. Additionally, although the vehicle  12  is represented as an automotive vehicle, the vehicle may be any movable device for transporting people or materials on land, in air, in water, or through space. Examples of vehicles include automobiles, trucks, motorcycles, carts, wagons, trains, aircraft, missiles, ships, boats, submarines, and spaceships. 
     The emblem installation system  18  includes an end effector  20  shown attached to a robotic arm  22  via a coupling  24  that includes electrical connectors for providing power, control signal, and sensor signal communication between the end effector  20  and an electronic controller  26 . The electronic controller  26  includes a memory, a processor, and a set of stored instructions executed by the processor to carry out an emblem installation method  400  disclosed herein. 
     The electronic controller  26  is also operatively connected to a vacuum source  28  and controls a vacuum applied by the vacuum source  28  to multiple vacuum gripper modules  30  included on the end effector  20  so that the vacuum gripper modules  30  (individually labelled as  30 A,  30 B, and  30 C) can selectively receive vacuum individually, in any combination, or collectively to simultaneously grip two or more of the multiple emblems  32 ,  34 ,  36 , and  38  and individually release the multiple emblems as discussed further herein. Although only three vacuum gripper modules  30 A,  30 B, and  30 C and four emblems  32 ,  34 ,  36 , and  36  are shown, instead of three vacuum gripper modules  30 , the end effector  20  may have only two or may have more than three vacuum gripper modules  30 , and instead of four emblems  32 ,  34 ,  36 , and  38  there may be only two or more than four emblems of different sizes and shapes supported on a platform  40  to be installed on the vehicle  12 . 
     The emblems  32 ,  34 ,  36 , and  38  are shown supported on an emblem support platform  40  that has multiple through holes  42  and is configured to support the multiple emblems. As shown, the emblems  32 ,  34 ,  36 , and  38  overlie some of the through holes  42 . Additionally, the electronic controller  26  is operatively connected to a pneumatic power source  44  (e.g., an air compressor) that may actuate pneumatic cylinders that extend and retract different ones of the multiple vacuum gripper modules  30  and may also actuate a wet-out roller that may further be included on the end effector  20  as discussed herein to accomplish the emblem installation process. The reconfigurable end effector  20  reduces cycle time as it is able to pick up multiple emblems from a first location (e.g., from the support platform  40 ) and be moved by the robotic arm  22  to a second location (e.g., adjacent the vehicle  12 ) for placement of the emblems at different predetermined locations  32 A,  34 A,  36 A, and  38 A on a work piece (e.g., on the body  50  of the vehicle  12 ) achieving multiple installation operations without moving back and forth between the first location and the second location to pick up and move each emblem separately to the second location. The predetermined locations  32 A,  34 A,  36 A, and  38 A are shown at the rear of the vehicle, such as on a decklid or liftgate. However, the predetermined locations could instead be anywhere on the vehicle  12  at which emblems are to be installed, such as on a side door panel, such as a front door panel. 
     The emblem installation system  18  also includes a vision system  19 , and the electronic controller  26  is connected to the vision system  19 . The vision system  19  includes one or more cameras  21  adapted to indicate the size and shape of the emblems, the position of the emblems, and the position of the vehicle  12 . In the embodiment discussed herein, for purposes of illustration of the reconfigurability of the end effector  20 , the end effector  20  picks up first and second emblems  32 ,  34  simultaneously when in a first configuration (as shown in  FIG. 2 ) and is then reconfigured to a second configuration (as shown in  FIG. 4 ) to pick up third and fourth emblems  36  and  38  separately after the first and second emblems  32 ,  34  are installed on the vehicle body  50 . Alternatively, the end effector  20  could be configured with enough vacuum gripper modules  30  to pick up all of the emblems  32 ,  34 ,  36  and  38  at once. 
     With continued reference to  FIGS. 1 and 2 , the end effector  20  has a base  52  and the multiple vacuum gripper modules  30 A,  30 B, and  30 C are repositionable along the base  52  in different configurations (e.g., different relative spacings of the vacuum gripper modules  30 A,  30 B, and  30 C from one another). The base  52  includes a track  54  shown with both a lower linear path  54 A (see  FIG. 2 ) and a side linear path  54 B (see  FIG. 1 ). Another side linear path may extend along the base on the side opposite from the side linear path  54 B. Each vacuum gripper module  30 A,  30 B,  30 C extends from a cross bar  56  that is connected via one or more brackets  58  to slide along the track  54  in the paths  54 A,  54 B. A respective wet-out roller may extend adjacent to each of the vacuum gripper modules  30 A,  30 B,  30 C, such as on the cross bars  56 , and pneumatic cylinders may allow separate extension and retraction of the vacuum gripper modules and the wet-out roller, as in the embodiment of  FIGS. 14-16 . Wet-out roller  31  is further shown and described in the embodiments of  FIGS. 11-16 . 
     The multiple vacuum gripper modules  30 A,  30 B,  30 C sufficiently directly overlie the multiple emblems  32 ,  34  and the platform  40 , including at least some of the through holes  42 , in the first configuration so that the emblems may be picked up individually and gripped by vacuum force to move from the platform  40  to the vehicle  12  simultaneously. The brackets  58  may be locked in position along the track  54  in the first configuration while carrying out the emblem installation method on the first and second emblems  32  and  34 , and then unlocked, slid along the track  54 , and locked in the second configuration of  FIG. 4  to carry out the emblem installation method  400  on the third and fourth emblems  36  and  38 , for example. 
     As shown in  FIG. 2 , in the first configuration, vacuum gripper modules  30 A and  30 B are moved closer to one another, with a large space between vacuum gripper modules  30 B and  30 C. The grouped together vacuum gripper modules  30 A and  30 B (referred to as a first set of vacuum modules) together pick up the relatively large first emblem  32  while the single vacuum gripper module  30 C (referred to as a second set of vacuum modules) picks up the relatively small emblem  34 . The first and second emblems  32 ,  34  may be referred to as a first set of emblems. 
     As shown in  FIG. 3 , the vacuum gripper modules  30 A,  30 B, and  30 C extend directly over at least some of the multiple through holes  42  while controlled by the electronic controller  26  to apply a force F 1  within a first range of forces on the emblems  32 ,  34  against the platform  40 , and then apply a vacuum to pull air through the through holes  42  when gripping the multiple emblems  32 ,  34  to pick the multiple emblems  32 ,  34  up off of the emblem support platform  40 . The first range of forces may be, for example, 2 to 5 Newtons, and is sufficient to contact the emblems  32 ,  34  and allow the subsequent vacuum to maintain the emblems  32 ,  34  on the vacuum gripper modules  30 A,  30 B, and  30 C while moving the robotic arm  22  from the first location (the platform  40 ) to the second location (the vehicle  12 ). The first range of forces may be tailored to the specific emblem design. For example, a more compliant emblem may be able to withstand greater force during pick-up without damage to the surface of the emblem. In contrast to a solid support surface (e.g., a surface without sufficiently sized through holes), the through holes  42  of the emblem support platform  40  prevent the multiple vacuum gripper modules  30 A.  30 B,  30 C from becoming accidentally stuck due to the vacuum suction. Referring to  FIG. 5 , a bottom view of one of the vacuum gripper modules  30  shows that it has a bottom surface  59  to which multiple apertures  62  extend through the vacuum gripper module  30  to a vacuum conduit  64 . The vacuum conduit  64  is shown in  FIG. 1  with many branches extending from the vacuum source  28 . Multiple switches  66  (some of which are indicated with hidden lines in  FIG. 1 ) may be disposed within the conduit  64  and controlled via the electronic controller  26  to selectively apply and discontinue vacuum to the vacuum gripper modules  30 A,  30 B, and  30 C individually or collectively as needed to carry out the emblem installation method  400 . 
     In the first configuration shown in  FIGS. 2 and 3 , the grouped together modules  30 A and  30 B correspond to a dimension of the first emblem  32  (e.g., a length L 1  of the first emblem  32 ) while the single vacuum gripper module  30 C corresponds to a dimension of a second emblem  34  (e.g., a length L 2  of the second emblem  34 ). Stated differently, the vacuum gripper modules  30 A,  30 B, and  30 C are positioned so that the grouped together modules  30 A,  30 B can pick up the entire length of the emblem  32  while still having at least some portion of the vacuum gripper modules  30 A,  30 B directly overlie the through holes  42  during the vacuum pick-up from the support platform  40 . Similarly, module  30 C can pick up the entire length of the emblem  34  while still having at least some portion of the vacuum gripper module  30 C directly overlie the through holes  42  during the vacuum pick up from the support platform  40 . The first subset of the multiple vacuum gripper modules  30 A,  30 B applies the force within the first range of forces and the force within the second range of forces to the first emblem  32  and not to the second emblem  34 , and the second subset of the multiple vacuum gripper modules  30 C applies the force within the first range of forces and the force within the second range of forces to the second emblem  34  and not to the first emblem  32 . 
     In  FIG. 4 , the end effector  20  is reconfigured by positioning the vacuum gripper modules  30 A,  30 B, and  30 C in a second configuration different than the first configuration to pick up the third and fourth emblems  36 ,  38 , referred to as a second set of emblems. In the second configuration, the single vacuum gripper module  30 A is a third subset of the vacuum gripper modules  30 A,  30 B, and  30 C and corresponds to a dimension of the third emblem  36  (e.g., a length L 3  of the third emblem  36 ) while the single vacuum gripper module  30 C is a fourth subset of the vacuum gripper modules  30 A,  30 B, and  30 C and corresponds to a dimension of a fourth emblem  38  (e.g., a length L 4  of the fourth emblem  38 ), as shown in  FIG. 4 . The dimension of at least one of the third emblem  36  or the fourth emblem  38  is different than the dimension of the first emblem  32  or the dimension of the second emblem  34 . The vacuum gripper module  30 A can pick up the entire length of the emblem  36  while still having at least some of the vacuum gripper module  30 A directly overlie the through holes  42  during the vacuum pick-up from the support platform  40 , and the vacuum gripper module  30 C can pick up the entire length of the emblem  38  while still having at least some of the vacuum gripper module  30 C directly overlie the through holes  42  during the vacuum pick-up from the support platform  40 , such that the third subset (e.g., module  30 A in the embodiment shown) of the multiple vacuum gripper modules applies the force F 1  within the first range of forces (during pick-up mode) and the force within the second range of forces (during placement mode) to the third emblem  36  and not to the fourth emblem  38 , and the fourth subset (e.g., vacuum gripper module  30 C in the embodiment shown) of the multiple vacuum gripper modules applies the force F 1  within the first range of forces (during pick-up mode) and the force within the second range of forces (during placement mode) to the fourth emblem  38  and not to the third emblem  36 . Depending on the specific emblems used, either the third subset is different than the first subset (as shown) or the fourth subset is different than the second subset (in the embodiment shown, the second subset and the fourth subset are the same) or both the third subset is different than the first subset and the fourth subset is different than the second subset. 
       FIG. 7  is a perspective fragmentary view showing vacuum gripper modules  30 A,  30 B gripping the first emblem  32  when in the first configuration.  FIG. 8  is a perspective fragmentary showing the vacuum gripper module  30 A gripping the third emblem  36  when in the second configuration. Each of the multiple vacuum gripper modules  30 A,  30 B, and  30 C includes a compliant body  60  configured to resiliently compress to conform to the multiple emblems  32 ,  34 ,  36  or  38 . For example, the vacuum gripper module  30 A compresses to conform to part of the first emblem  32  in the first configuration of  FIG. 7 , and to the third emblem  36  in the second configuration of  FIG. 8 . In the example shown, the third emblem  36  has a greater surface contour (e.g., surface profile) and is also a harder material (e.g., a different compliant material property) than the first emblem  32 . Additionally, forces within the first range of forces applied during pick up of the first emblem  32  may be less than those applied during pick up of the third emblem  36  (e.g., the first range of forces for pick-up of the first emblem  32  may be different than the first range of forces for pick-up of the third emblem  36 ). 
     The stored instructions on the electronic controller  26  may be tuned to the different surface contours and hardnesses of the various emblems to apply different ranges of forces during each of the modes (pick-up and placement) by the vacuum gripper modules  30 A,  30 B,  30 C and wet out by the wet-out roller(s)  31 . When more than one vacuum gripper module is applied to the same emblem (such as vacuum gripper modules  30 A,  30 B applied to emblem  32  in the first configuration), the different vacuum gripper modules may apply different ranges of forces than one another even in the same operational mode (e.g., during pick up) if the different vacuum gripper portions of the emblem that the respective vacuum gripper modules contact have different contour or compliance characteristics. 
     In some embodiments, a compressive stiffness, a thickness, or both a compressive stiffness and a thickness of the compliant body  60  of at least one of the multiple vacuum gripper modules  30 A,  30 B, and  30 C may be different than a compressive stiffness, a thickness, or both a compressive stiffness and a thickness of the compliant body  60  of at least one other of the multiple vacuum gripper modules  30 A,  30 B, and  30 C. For example,  FIGS. 9 and 10  are side views of another embodiment of an end effector  120  for the emblem installation system of  FIG. 1 . The end effector  120  is like end effector  20  except that the compressive stiffnesses of the compliant bodies  60  of the vacuum gripper modules  30 A,  30 B, and  30 C are different as they are specifically tuned to the surface profile of the emblem  132 . For example, the compliant body  60  of the vacuum gripper module  30 B is less stiff (e.g., has a lower compressive stiffness K2) than the compliant body  60  of the vacuum gripper modules  30 A and  30 C (e.g., than the compressive stiffness K1 of vacuum gripper module  30 A and the compressive stiffness K3 of vacuum gripper module  30 C) so that the compliant body  60  of the vacuum gripper module  30 B readily compresses to conform to the outer surface of the emblem  132  at its greater height near the middle of the emblem  132 . As shown, the compliant bodies  60  compress from respective first heights H 1 , H 2 , and H 3  in  FIG. 9  to lesser heights in  FIG. 10  under forces F 1 A, F 1 B, and F 1 C applied by each of the vacuum gripper modules  30 A,  30 B, and  30 C during the pick-up mode. The forces F 1 A, F 1 B, and F 1 C may be the same or different. In some embodiments, any of the initial heights H 1 , H 2  and H 3  may also be different from one another instead of or in addition to the compliant bodies  60  having different compressive stiffnesses to conform to the emblems. Similarly, the compressive stiffness of the material of the wet-out roller used, such as wet-out roller  31  in  FIGS. 11-16  may be selected at least in part based on the contour (profile variation), shape, and relative stiffnesses (compliant material properties) of different portions of an emblem. Accordingly, the multiple vacuum gripper modules and the wet-out roller(s) may be somewhat customized in this manner to the contour (profile variation), shape, and relative stiffnesses (compliant material properties) of different portions of an emblem. 
     Additionally, the reconfigurable end effector is adaptable for a hybrid of robotic arm path (position control) and application force planning according to a force control algorithm for emblem picking, placement, and wet-out. For example, to assist in tuning the range of forces for each of the modes of the emblem installation method  400 , one or more force sensors  70  are operatively connected to the multiple vacuum gripper modules  30 A,  30 B, and  30 C and to the wet-out roller(s)  31 , allowing for real-time adaptive force control. In  FIGS. 3-4 and 9-10 , the force sensors  70  are shown disposed adjacent to each compliant body  60 , such as near the end of a harder arm portion  120 A,  120 B, and  120 C of the vacuum gripper modules  30 A,  30 B, and  30 C. In other embodiments, the force sensors  70  may be located nearer to the base  52  or  152 . 
     The electronic controller  26  is in communication with the one or more force sensors  70  and configured to execute a set of stored instructions to apply a force within a first range of forces to grip the multiple emblems  32 ,  34 ,  36  and  38  with the multiple vacuum gripper modules  30 A- 30 C. For example, the force sensors  70  may be a force sensor resistor, a piezoelectric sensor, or a strain gauge load cell. Predetermined force ranges may be optimal for each of the modes of the emblem installation method. For example, during the pick-up mode, a first range of forces from about 2 Newtons to about 5 Newtons may be optimal to ensure that the emblems are not damaged during pick-up from the first location (the platform  40 ) and transfer to the second location (the vehicle  12 ). Once the emblems  32 ,  34  (or  36 ,  38 ) are gripped by the vacuum gripper modules  30 A,  30 B, and  30 C, the electronic controller  26  moves the robotic arm  22  toward the vehicle  12 . Based upon sensor signals from the force sensors  70 , the electronic controller  26  monitors the magnitude of the force applied by the multiple vacuum gripper modules while applying the force within the first range of forces and adjusts the force based on the sensor signals, if necessary, to maintain the force within the first range of forces. Pneumatic cylinders (like cylinder  380  or  382 ) in  FIG. 14 ) or other linear actuating mechanism may be used to apply force via the vacuum gripper modules  30 A,  30 B, and  30 C. 
     When the robotic arm  22  moves the end effector  20  to the vehicle  12  to accomplish the placement mode (e. g. placing the emblems against the surface of the vehicle  12  at the predetermined locations  32 A,  34 A,  36 A, and  38 A), a second range of forces, such as from about 10 Newtons to about 15 Newtons may be optimal to ensure the emblems are held in place prior to the wet-out mode. Finally, in the wet-out mode, a third range of forces such as from about 37 Newtons to about 39 Newtons may be applied by wet-out roller(s)  31  used to sufficiently wet-out the adhesive of the emblems  32 ,  34 ,  36 , and  38  without damage to the emblem or the vehicle body  50 . 
     The vehicle  12  may be moving with the automated tracks  16  while the robotic arm  22  moves toward it and during the placement and wet-out modes of the emblem installation process (e.g., while the vacuum gripper modules  30 A,  30 B, and  30 C apply the force within the second range of forces (placement mode) and while the wet-out roller(s)  31  apply the force within the third range of forces (wet-out mode). Accordingly, using the vision system  19 , the electronic controller  26  may track movement of the vehicle  12  and move the robotic arm  22  in response to the movement of the vehicle  12  (e.g., accounting for the movement of the vehicle  12 ) while applying the force within the second range of forces and the force within the third range of forces so that there is a desired relative movement of the end effector  20  and the vehicle  12  during the placement mode, and there is the desired relative movement of the wet-out rollers  31  over the respective emblems  32 ,  34  or  36 ,  39  during the wet-out mode. 
     During the placement mode, the force within the second range of forces is applied by the respective vacuum gripper modules  30 A,  30 B, and  30 C to place the multiple emblems  32 ,  34 ,  36  and  38  at different predetermined locations  32 A,  34 A,  36 A, and  38 A on the vehicle body  50 , moving the robotic arm  22  from the platform  40  to adjacent to the vehicle  12  (with the modules  30 A,  30 B,  30 C facing the vehicle body  50 ) and with the multiple emblems  32  and  34  (or, on a second trip, emblems  36  and  38 ) gripped by the multiple vacuum gripper modules to transfer the multiple emblems  32  and  34  from the platform  40  to the vehicle body  50 . The electronic controller  26  sends control signals to the end effector  20  to apply a force within the second range of forces to each of the multiple emblems  32 ,  34  individually and in succession via the multiple vacuum gripper modules  30 A,  30 B, and  30 C while releasing the vacuum to the multiple vacuum gripper modules  30 A,  30 B, and  30 C individually and in succession to place the multiple emblems  32 ,  34  at the different predetermined locations  32 A,  34 A on the vehicle body  50  without returning to the first location. For example, the vacuum force applied by the vacuum gripper modules  30 A,  30 B is released once the emblem  32  is placed at predetermined location  32 A and a force within the second range of forces is applied to the emblem  32 . During this time, the vacuum is maintained at the vacuum gripper module  30 C to maintain a grip on the emblem  34 . Alternatively, the electronic controller  26  could be programmed to perform placement of all of both emblems  32  and  34 , or all of the emblems  32 ,  34 ,  36  and  38  before performing any wet-out functions. Next, the wet-out of the adhesive of the first emblem  32  may be accomplished by moving the robotic arm  22  so that a wet-out roller  31  rolls on the outer surface of the emblem  32  with a force within the third range of forces. The robotic arm  22  then moves the end effector  20  directly from the predetermined location  32 A to the predetermined location  34 A to place the vacuum gripper module  30 C with emblem  34  at the predetermined location  34 A, and the vacuum is released from the vacuum gripper module  30 C while a force within the second range of forces is applied to place the emblem  34  at the predetermined location  34 A. During placement of the emblems  32 ,  34 , the electronic controller  26  monitors the magnitude of the force applied by the vacuum gripper modules  30 A,  30 B, and  30 C, respectively, and adjusts the force as necessary to maintain it within the second range of forces. 
     The electronic controller  26  moves the robotic arm  22  back to the platform  40 , applies a force within the first range of forces to the emblem  36  using the vacuum gripper module  30 A, and applies a vacuum to the vacuum gripper module  30 A to pick up the third emblem  36 . The robotic arm  22  is then moved so that the vacuum gripper module  30 C is over the fourth emblem  38 , applies a force within the first range of forces to the emblem  38  using the vacuum gripper module  30 C, and applies a vacuum to the vacuum gripper module  30 C to pick up the fourth emblem  38 . During this time, the vacuum is maintained at the vacuum gripper module  30 A. Because the vacuum gripper module  30 B is not needed for gripping either of the emblems  36 ,  38 , vacuum need not be applied to the vacuum gripper module  30 B. 
     The electronic controller  26  then moves the robotic arm  22  from the platform  40  to the adjacent vehicle  12  with the multiple emblems  36  and  38  gripped by the vacuum gripper modules  30 A,  30 C, respectively, to transfer the multiple emblems  36  and  38  from the platform  40  to the vehicle body  50 . The electronic controller  26  sends control signals to the end effector  20  to apply a force within the second range of forces to each of the multiple emblems  36 ,  38  individually and in succession via the multiple vacuum gripper modules  30 A and  30 C while releasing the vacuum to the multiple vacuum gripper modules  30 A and  30 C individually and in succession to place the multiple emblems  36 ,  38  at the different predetermined locations  36 A,  38 A on the vehicle body  50  without returning to the first location. For example, the vacuum applied by the vacuum gripper module  30 A is released once the emblem  36  is placed at location  36 A and a force within the second range of forces is applied to the emblem  36  via the vacuum gripper module  30 C. During this time, the vacuum is maintained at the vacuum gripper module  30 C to maintain the grip on the emblem  38 . Next, the wet-out of the adhesive of the third emblem  36  may be accomplished by moving the robotic arm  22  so that a wet-out roller rolls on the outer surface of the emblem  36  with a force within the third range of forces. Alternatively, the electronic controller  26  could be programmed to perform placement of the fourth emblem  38  before performing wet-out of the third emblem  36 . Otherwise, after wet-out of the third emblem  36 , the robotic arm  22  moves the end effector  20  directly from the predetermined location  36 A to the predetermined location  38 A to place the vacuum gripper module  30 C with emblem  38  at the predetermined location  38 A, and the vacuum is then released from the vacuum gripper module  30 C while a force within the second range of forces is applied to place the fourth emblem  38  at the predetermined location  38 A. During placement of the emblems  36 ,  38 , the electronic controller  26  monitors the magnitude of the force applied by the vacuum gripper modules  30 A and  30 C, respectively, and adjust the force as necessary to maintain it within the second range of forces. 
       FIG. 11  is a side view of another embodiment of an end effector  220  for the emblem installation system  18  of  FIG. 1  mounted on the robotic arm  22  shown in fragmentary view. The end effector  220  includes a first arm  220 A extending from a base  252  and supporting a vacuum gripper module  230 A like vacuum gripper module  30 A. The same arm  220 A or different arms (not shown) may support addition vacuum gripper modules, further along the base  252  (e.g., further into the page in  FIG. 11 ). The vacuum gripper module  230 A may include a compliant body  60  and a force sensor  70  as discussed with respect to the end effector  120 . The end effector  220  also includes a second arm  220 B extending from the base  252  and supporting the wet-out roller  31 . Another force sensor  70  is operatively connected with the wet-out roller  31 . Side extensions  217  (one shown) may extend from a terminal end portion  220 C of the arm  220 B at either end of the wet-out roller  31  and may support a center bar  219  of the wet-out roller  31  so that the wet-out roller  31  rotates about a center axis  221  in the direction of arrow  223  when the wet-out roller  31  is placed in contact with an emblem and the robotic arm  22  is controlled to push the wet-out roller  31  over the outer surface of the emblem. 
     The force sensors  70  enable the electronic controller  26  to maintain the vacuum gripper module  230 A within the first range of forces during the emblem pick-up mode, within the second range of forces during the emblem placement mode. The force sensor  70  allows the electronic controller  26  to maintain forces applied by the wet-out roller  31  within the third range of forces during the emblem wet-out mode. A longitudinal axis  225  of the first arm  220 A is non parallel with a longitudinal axis  227  of the second arm  220 B. Accordingly, after placement of an emblem  32 ,  34 ,  36  and  38 , at one of the respective predetermined locations  32 A,  34 A,  36 A, or  38 A, the electronic controller  26  controls the robotic arm  22  to pivot the end effector  220  about an axis  229  that is perpendicular to both of the longitudinal axis  225  of the first arm  220 A and the longitudinal axis  227  of second arm  220 B before applying the force within the third range of forces via the wet-out roller  31 . 
       FIG. 12  is a side view of the end effector of  FIG. 11  with the robotic arm  22  rotated in a first orientation for pick-up and placement of an emblem by one or more vacuum gripper modules (such as vacuum gripper module  230 A). The robotic arm  22  is shown controlling the vacuum gripper module  230 A to apply a force within the first range of forces to place the emblem  36  on the body  50 . In  FIG. 13 , the robotic arm  22  is shown after rotation about the axis  229  relative to the placement mode of  FIG. 12  so that the wet-out roller  31  can be applied with a force within the third range of forces to wet-out the emblem  36  on the body  50 . 
       FIG. 14  is a side view of another embodiment of an end effector  320  for the emblem installation system  18  of  FIG. 1  mounted on the robotic arm  22  shown in fragmentary view and showing a vacuum gripper module  330 A extended for picking up the emblem  36  from a first location on the emblem support platform  40 . The end effector  320  includes a first arm  320 A extending from a base  352  and supporting the vacuum gripper module  30 A. The same or different arms (not shown) may support additional vacuum gripper modules, further along the base  352  (e.g., further into the page in  FIG. 14 ). The vacuum gripper module  330 A may include a compliant body  60  and a force sensor  70  as discussed with respect to module  230 A. A second arm  320 B extends from the base  352  and the wet out roller  31  extends from a terminal end portion  320 C of the second arm  320 B. Another force sensor  70  is operatively connected with the wet-out roller  31 . Additional wet-out rollers  31  may extend from additional arms further along the base  352  (e.g., further into the page in  FIG. 14 ) adjacent any additional modules extending from additional first arms. 
     A first pneumatic cylinder  380  is connected to the first arm  320 A, and a second pneumatic cylinder  382  is connected to the second arm  320 B. For example, the arms  320 A,  320 B may be telescoping arms and the pneumatic cylinders  380 ,  382  are represented as being disposed between upper and lower portions of the respective arms  320 A,  320 B. The pneumatic power source  44  shown in  FIG. 1  is selectively connected to the first pneumatic cylinder  380  and to the second pneumatic cylinder  382  to extend and retract the first arm  320 A and the second arm  320 B separately from one another. For example, one or more valves may be disposed in the air lines extending from the pneumatic power source  44  through the robotic arm  22  to the arms  320 A,  320 B to allow or block flow to the arms  320 A,  320 B. In  FIG. 14 , during the pick-up mode, the first arm  320 A is extended and the second arm  320 B is retracted. A force within the first range of forces (represented by force F 1 ) is applied to the emblem  36 . 
     In  FIG. 15 , the robotic arm  22  is shown moved to a second orientation at the second location (the vehicle  12 ) to place the emblem  36  at the predetermined location  36 A on the vehicle body  50 . During the placement mode, the first arm  320 A is extended and the second arm  320 B remains retracted. A force within the second range of forces (represented by force F 2 ) is applied to the emblem  36 . A longitudinal axis  325  of the first arm  320 A is parallel with a longitudinal axis  327  of the second arm  320 B. Accordingly, after placement of an emblem  36 , at the predetermined location  36 A, the robotic arm  22  need only move in a direction parallel to the surface of the body  50 , in addition to moving in the direction of arrow  14  as the vehicle moves with the tracks  16 . However, the end effector  320  need not pivot as end effector  220  must. The movement path of the robotic arm  22  may thus be simpler to execute by the electronic controller  26 . 
     In  FIG. 16 , the vacuum gripper module  330 A is retracted from the body  50  (by retracting the first arm  320 A) and the wet-out roller  31  is extended (by extending the second arm  320 B) for wet-out of the emblem  36  by the wet-out roller  31 . For example, one or more switches within lines from the pneumatic power source  44  to the pneumatic cylinders  380 ,  382  may be controlled by the electronic controller  26  to quickly block air pressure to the first arm  320 A and allow air pressure to the second arm  320 B. 
     Accordingly, a method  400  of emblem installation described herein is shown in  FIG. 17 . The method  400  may begin with step  402 , positioning multiple vacuum gripper modules in a configuration corresponding to a dimension of a first emblem  32  and a dimension of a second emblem  34 , and then step  404 , locating the end effector to extend over one of the emblems  32  or  34  at a first location. For example, the emblems  32 ,  34  may be supported on the platform  40 . Next, in step  406 , a force F 1  is applied within a first range of forces via one or more vacuum gripper modules  30 A,  30 B,  30 C. Due to step  402 , a first set  30 A,  30 B of the multiple vacuum gripper modules applies the force F 1  within the first range of forces to the first emblem and not to the second emblem  34 , and a second set  30 C of the multiple vacuum gripper modules applies the force F 1  within the first range of forces to the second emblem  34  and not to the first emblem  32 . During step  406 , the method  400  may include step  408 , monitoring a magnitude of the force applied so that the force may be adjusted in step  406 , if necessary, to maintain the force F 1  applied within the first range of forces. 
     Next, the method proceeds to step  410 , moving the robotic arm  22  from the first location (the emblem support platform  40 ) to the second location (adjacent the vehicle  12 ) while maintaining vacuum to those ones of the vacuum gripper modules that are gripping an emblem. Once the end effector  20  is positioned adjacent the vehicle body  50  via movement of the robotic arm  22  in step  410 , any steps necessary prior to emblem placement are carried out. For example, in the embodiment of the end effector  320 , this may include step  412 , extending the first arm  320 A, if not already extended to accomplish the pick-up mode. Next, in step  414 , a force F 2  within a second range of forces is applied via the one or more vacuum gripper modules to the emblem during the placement mode. During step  412 , the method  400  may include step  414 , monitoring a magnitude of the force applied so that the force F 2  may be adjusted in step  412 , if necessary, to maintain the force applied within the second range of forces. 
     After the placement mode of step  414 , any steps necessary prior to emblem wet-out are carried out. For example, in the embodiment of the end effector  320 , this may include step  418 , retracting the first arm  320 A and step  420 , extending the second arm  320 B. Alternatively, in the embodiment of the end effector  220 , this may include step  422 , pivoting the robotic arm about the axis  229  to move the wet-out roller  31  adjacent to the emblem on the vehicle body  50 . 
     Next, in step  424 , a force F 3  is applied within a third range of forces via the wet-out roller  31  to the emblem during the wet-out mode. During step  424 , the method  400  may include step  426 , monitoring a magnitude of the force applied so that the force may be adjusted in step  424 , if necessary, to maintain the force F 3  applied within the third range of forces. 
     After step  424 , the installation of the emblem to which force was applied in step  424  is complete. If any of the other vacuum gripper modules are still gripping other emblems that are ready to be installed on the vehicle body  50 , the method  400  may include step  428 , moving the robotic arm  22  to another predetermined location on the vehicle body  50 , e.g., to the second predetermined location  34 A, for example, to install the second emblem  34 . 
     Once all of the emblems that were held by the vacuum gripper modules  30 A,  30 B, and/or  30 C after the pick-up mode of step  404  have been placed installed, if still more emblems are to be installed on the vehicle  12 , or if emblems of different lengths or other dimensions are to be installed on another vehicle, the method  400  may proceed to step  430 , positioning the vacuum gripper modules in a second configuration, e.g., the configuration of  FIG. 4 , for example, to then return to step  404  and proceed through the method  400 , installing emblems  36  and  38 , for example. 
     Accordingly, several embodiments of end effectors disclosed herein allow efficient installation according to the method  400 . The end effectors can carry multiple emblems from a pick-up location to a placement location at once, and can be reconfigured as necessary in correspondence with emblem sets of different dimensions, for example. The end effectors that have parallel arms supporting the vacuum gripper module(s) and the wet-out roller(s) enable easier robotic path control. The use of compliant members of different thickness and/or stiffnesses enables better conformance to the emblem and more uniform vacuum gripping over the emblem, and the use of force sensors enables adaptive force control to maintain forces appropriate for the different modes of the installation process (pick-up, placement, and wet-out) as well as to customized forces over different regions of the same emblem, for example. 
     While the best modes for carrying out the disclosure have been described in detail, those familiar with the art to which this disclosure relates will recognize various alternative designs and embodiments for practicing the disclosure within the scope of the appended claims.