Patent Publication Number: US-11020765-B2

Title: Methods for delivering glutinous substance to workpiece from end-effector

Description:
TECHNICAL FIELD 
     The present disclosure relates to applicators, configured to deliver a glutinous substance to a workpiece from an end-effector, and systems, apparatuses, and methods for coupling a tip to and decoupling a tip from a body of an applicator, configured to deliver a glutinous substance to a workpiece from an end-effector. 
     BACKGROUND 
     It is commonplace to use manual techniques to apply glutinous substances, such as sealants, adhesives, and fillers, to surfaces of structures or other objects for purposes of sealing, corrosion-resistance mitigation, and/or fixation, among others. However, manual surface application of glutinous substances in a uniform, repeatable manner is difficult and time consuming. 
     SUMMARY 
     Accordingly, apparatuses and methods, intended to address at least the above-identified concerns, would find utility. 
     The following is a non-exhaustive list of examples, which may or may not be claimed, of the subject matter according to the invention. 
     One example of the subject matter according to the invention relates to an applicator for delivering a glutinous substance to a workpiece from an end-effector. The applicator comprises a body, comprising a first channel that comprises an inlet portion, comprising an inlet through which the glutinous substance enters the applicator, and an outlet portion, comprising an outlet, through which the glutinous substance exits the outlet portion. The inlet portion is communicatively coupled with the outlet portion and is oriented at an angle to the outlet portion. The body also comprises a second channel, communicatively coupled with the first channel and coaxial with the outlet portion of the first channel. Furthermore, the body comprises a sensor port, communicatively coupled with the first channel. The applicator also comprises a plunger, comprising a gate. The gate is movable within the outlet portion of the first channel between, inclusively, an open position, allowing the glutinous substance to flow from the inlet of the first channel to the outlet of the first channel and a closed position, preventing the glutinous substance from flowing from the inlet of the first channel to the outlet of the first channel. The applicator further comprises an actuator, selectively operable to move the plunger such that the gate moves between, inclusively, the open position and the closed position. The applicator additionally comprises a sensor, communicatively coupled with the first channel via the sensor port and configured to detect at least one characteristic of the glutinous substance in the first channel. 
     At least the part of the inlet portion of the first channel, being oriented at an angle to the outlet portion of the first channel, allows the end-effector to more conveniently locate the applicator relative to the workpiece for delivering the glutinous substance to the workpiece. For example, orienting at least the part of the inlet portion of the first channel at an angle to the outlet portion of the first channel facilitates delivery of the glutinous substance to features of the workpiece (e.g., the overhangs, pockets, channels, and other tight spaces) that would be difficult to reach if the inlet portion of the first channel was not at an angle to the outlet portion of the first channel. Additionally, at least the part of the inlet portion of the first channel, being oriented at an angle to the outlet portion of the first channel, allows the inlet of the inlet portion of the first channel to be offset from the outlet of the outlet portion of the first channel, which provides spacing for the actuator to be coupled to the body in-line with the outlet of the outlet portion. 
     The sensor port, being communicatively coupled with the first channel, promotes placement of the sensor close to the outlet of the outlet portion of the first channel, which helps to more accurately detect at least one characteristic of the glutinous substance at the outlet of the outlet portion of the first channel. Accurately detecting at least one characteristic of the glutinous substance at the outlet facilitates appropriate rates of delivery of the glutinous substance from the outlet of the outlet portion of the first channel, via control of the actuator, because detected characteristics better reflect the actual characteristics of the glutinous substance at the outlet compared to a sensor the placed further away from the outlet, such as the sensor positioned upstream of the applicator. 
     Another example of the subject matter according to the invention relates to a system for delivering a glutinous substance to a workpiece from an end-effector. The system comprises an applicator, coupled to the end-effector. The applicator comprises a body, comprising a first channel that comprises an inlet portion, comprising an inlet through which the glutinous substance enters the applicator, and an outlet portion, comprising an outlet, through which the glutinous substance exits the outlet portion. The inlet portion is communicatively coupled with the outlet portion and is oriented at an angle to the outlet portion. The body also comprises a second channel, communicatively coupled with the first channel and coaxial with the outlet portion of the first channel. The body additionally comprises a sensor port, communicatively coupled with the first channel. The applicator also comprises a plunger, comprising a gate. The gate is movable within the outlet portion of the first channel between, inclusively, an open position, allowing the glutinous substance to flow from the inlet of the first channel to the outlet of the first channel and a closed position, preventing the glutinous substance from flowing from the inlet of the first channel to the outlet of the first channel. The applicator further comprises an actuator, selectively operable to move the plunger such that the gate moves between, inclusively, the open position and the closed position. The applicator additionally comprises a sensor, communicatively coupled with the first channel via the sensor port and configured to detect at least one characteristic of the glutinous substance in the first channel and to generate output corresponding to at least the one characteristic of the glutinous substance. The system also comprises a controller, operatively coupled with the sensor of the applicator and with the actuator of the applicator. The controller is configured to regulate a rate, at which the glutinous substance flows from the outlet of the first channel of the body of the applicator, by controlling operation of the actuator of the applicator, responsive to, at least in part, the output received from the sensor. 
     At least the part of the inlet portion of the first channel, being oriented at an angle to the outlet portion of the first channel, allows the end-effector to more conveniently locate the applicator relative to the workpiece for delivering the glutinous substance to the workpiece. For example, orienting at least the part of the inlet portion of the first channel at an angle to the outlet portion of the first channel facilitates delivery of the glutinous substance to features of the workpiece (e.g., the overhangs, pockets, channels, and other tight spaces) that would be difficult to reach if the inlet portion of the first channel was not at an angle to the outlet portion of the first channel. Additionally, at least the part of the inlet portion of the first channel, being oriented at an angle to the outlet portion of the first channel, allows the inlet of the inlet portion of the first channel to be offset from the outlet of the outlet portion of the first channel, which provides spacing for the actuator to be coupled to the body in-line with the outlet of the outlet portion. 
     The sensor port, being communicatively coupled with the first channel, promotes placement of the sensor close to the outlet of the outlet portion of the first channel, which helps to more accurately detect at least one characteristic of the glutinous substance at the outlet of the outlet portion of the first channel. Accurately detecting at least one characteristic of the glutinous substance at the outlet facilitates appropriate rates of delivery of the glutinous substance from the outlet of the outlet portion of the first channel, via control of the actuator, because detected characteristics better reflect the actual characteristics of the glutinous substance at the outlet compared to a sensor the placed further away from the outlet, such as the sensor positioned upstream of the applicator. 
     The controller, controlling operation of the actuator of the applicator, responsive to, at least in part, output received from the sensor promotes precision, consistency, and quality of the flow of glutinous substance from the outlet. In other words, controlling the rate of flow of the glutinous substance from the outlet of the first channel of the body of the actuator, responsive to, at least in part, the output received from the sensor facilitates a precise, consistent, and quality application of the glutinous substance to the workpiece. 
     Yet another example of the subject matter according to the invention relates to a method of delivering a glutinous substance to a workpiece from an end-effector. The method comprises using the end-effector to position an applicator relative to the workpiece. The applicator comprises a body, comprising a first channel that comprises an inlet portion, comprising an inlet through which the glutinous substance enters the applicator, and an outlet portion, comprising an outlet, through which the glutinous substance exits the outlet portion. The inlet portion is communicatively coupled with the outlet portion and at least a part of the inlet portion is oriented at an angle to the outlet portion. The angle at which at the part of the inlet portion is oriented to the outlet portion is other than 180 degrees. The body also comprises a second channel, communicatively coupled with the first channel and coaxial with the outlet portion of the first channel. The body additionally comprises a sensor port, communicatively coupled with the first channel. The applicator also comprises a plunger, comprising a gate. The gate is movable within the outlet portion of the first channel between, inclusively, an open position, allowing the glutinous substance to flow from the inlet of the first channel to the outlet of the first channel and a closed position, preventing the glutinous substance from flowing from the inlet of the first channel to the outlet of the first channel. The applicator further comprises an actuator, selectively operable to move the plunger such that the gate moves between, inclusively, the open position and the closed position. The applicator also comprises a sensor, communicatively coupled with the first channel via the sensor port and configured to detect at least one characteristic of the glutinous substance in the first channel and to generate output corresponding to at least the one characteristic of the glutinous substance. The method additionally comprises urging the glutinous substance from the end-effector through the first channel of the body of the applicator from the inlet of the first channel toward the outlet of the first channel. Furthermore, the method comprises selectively operating the actuator of the applicator to regulate a rate at which the glutinous substance flows through the first channel of the body of the applicator responsive to, at least in part, the output received from the sensor. 
     At least the part of the inlet portion of the first channel, being oriented at an angle to the outlet portion of the first channel, allows the end-effector to more conveniently locate the applicator relative to the workpiece for delivering the glutinous substance to the workpiece. For example, orienting at least the part of the inlet portion of the first channel at an angle to the outlet portion of the first channel facilitates delivery of the glutinous substance to features of the workpiece (e.g., the overhangs, pockets, channels, and other tight spaces) that would be difficult to reach if the inlet portion of the first channel was not at an angle to the outlet portion of the first channel. Additionally, at least the part of the inlet portion of the first channel, being oriented at an angle to the outlet portion of the first channel, allows the inlet of the inlet portion of the first channel to be offset from the outlet of the outlet portion of the first channel, which provides spacing for the actuator to be coupled to the body in-line with the outlet of the outlet portion. 
     The sensor port, being communicatively coupled with the first channel, promotes placement of the sensor close to the outlet of the outlet portion of the first channel, which helps to more accurately detect at least one characteristic of the glutinous substance at the outlet of the outlet portion of the first channel. Accurately detecting at least one characteristic of the glutinous substance at the outlet facilitates appropriate rates of delivery of the glutinous substance from the outlet of the outlet portion of the first channel, via control of the actuator, because detected characteristics better reflect the actual characteristics of the glutinous substance at the outlet compared to a sensor the placed further away from the outlet, such as the sensor positioned upstream of the applicator. 
     Selectively operating the actuator of the applicator to regulate the rate at which the glutinous substance flows through the first channel, responsive to, at least in part, output received from the sensor promotes precision, consistency, and quality of the flow of the glutinous substance from the outlet. In other words, controlling the rate of flow of the glutinous substance from the outlet of the first channel of the body of the actuator, responsive to, at least in part, the output received from the sensor facilitates a precise, consistent, and quality application of the glutinous substance to the workpiece. 
     Yet another example of the subject matter according to the invention relates to an applicator for delivering a glutinous substance to a workpiece from an end-effector. The applicator comprises a body that comprises a first channel. The first channel comprises an inlet portion and an outlet portion. The inlet portion of the first channel comprises an inlet, through which the glutinous substance enters the applicator. The inlet portion of the first channel is communicatively coupled with the outlet portion of the first channel. The outlet portion of the first channel comprises an outlet, through which the glutinous substance exits the applicator. The applicator also comprises a tip, configured to be releasably attached to the body. The tip comprises a through cavity, communicatively coupled with the outlet portion of the first channel of the body when the tip is coupled with the body. The applicator further comprises a coupler, configured to releasably attach the tip to the body by interlocking with the tip and with the body such that the coupler has no more than three degrees of freedom relative to the tip and the body. The applicator additionally comprises a retainer, configured to maintain the coupler interlocked with the body and with the tip. 
     The tip, being configured to be releasably attached to the body, facilitates interchangeability of tips with the body. Such interchangeability of the tips promotes the ability to apply the glutinous substance to the workpiece differently with one body. Using one body and multiple, interchangeable tips, to apply the glutinous substance to workpiece differently facilitates a reduction in manufacturing delays and costs. The coupler, interlocking with the tip and with the body such that the coupler has no more than three degrees of freedom relative to the tip and the body, promotes fixation of the tip to the body. Moreover, the coupler allows the tip to be both sufficiently interlocked with the body, for applying the glutinous substance to the workpiece, and releasable from the body, for quick and easy removal of the tip from the body after the glutinous substance is applied to the workpiece from the tip. The retainer ensures that the coupler both remains interlocked with the body and with the tip, while the tip is used to apply the glutinous substance to the workpiece, and allows release of the tip from the body when removal of the tip from the body is desired. 
     Yet another example of the subject matter according to the invention relates to an installation device for coupling a tip to a body of an applicator. The applicator comprises a coupler, releasably engageable with the tip to interlock the tip with the body of the applicator. The installation device comprises a tip holder that comprises two resilient pawls, opposing each other and configured to releasably retain the tip. 
     The installation device facilitates the automated coupling of the tip to the body of the applicator. For example, the installation device releasably retains the tip in preparation for the body of the applicator to be located by the end-effector such that the tip interlocks with the body to couple the tip to the body. After the tip, releasably retained by the two resilient pawls of the installation device, interlocks with the body of the applicator, movement of the body of the applicator away from the installation device causes the installation device to release the tip from the two resilient pawls of the installation device. 
     Yet another example of the subject matter according to the invention relates to a removal device for decoupling a tip from a body of an applicator. The removal device comprises a wall, comprising a proximal edge and a distal edge, opposite the proximal edge. The removal device also comprises a through channel in the wall. The removal device further comprises a pawl, comprising a proximal end, coupled to the wall, a distal end, opposite the proximal end, a first side between the proximal end and the distal end, and a second side, opposite to the first side. The distal end, the first side, and the second side of the pawl are delimited by the through channel and the pawl extends in a fifth direction from the proximal end to the distal end between the proximal edge of the wall and the distal edge of the wall. The removal device additionally comprises a wedge, extending from the wall and perpendicular to the wall. 
     The removal device facilitates the automated decoupling of the tip from the body of the applicator. As one example, removal device promotes concurrent disengagement of the coupler of the applicator from the tip and prevention of movement of the tip in the fifth direction as the body of the applicator moves in the fifth direction. The pawl, being coupled to the wall and having the distal end, the first side, and the second side delimited by through the channel, helps to streamline the removal device and promotes consistent flexing of the pawl relative to the wall. The wedge, extending perpendicular to the wall, locates the wedge relative to the pawl such that the coupler of the applicator can be engaged by the wedge when the tip is engaged by the pawl. Also, the wedge provides mechanical advantage for separating the coupler from the tip. 
     Yet another example of the subject matter according to the invention relates to a method of removing a tip from a body of an applicator, fixed to an end-effector. The applicator comprises a coupler, releasably engageable with the tip to interlock the tip with the body of the applicator. The method comprises, with the coupler of the applicator releasably engaged with the tip, locating the end-effector so that a pawl is engaged with a third tooth on the tip to prevent movement of the tip in a fifth direction away from the pawl and a wedge disengages the coupler of the applicator from the tip. The method also comprises, with the pawl engaged with the third tooth on the tip and the coupler of the applicator disengaged from the tip by the wedge, using the end-effector to move the body of the applicator in the fifth direction to disengage the tip from the body of the applicator. 
     The method facilitates the automated decoupling of the tip from the body of the applicator. As one example, the method promotes concurrent and automatic disengagement of the coupler of the applicator from the tip and prevention of movement of the tip in the fifth direction as the body of the applicator moves in the fifth direction. The wedge provides mechanical advantage for disengaging the coupler from the tip. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Having thus described one or more examples of the invention in general terms, reference will now be made to the accompanying drawings, which are not necessarily drawn to scale, and wherein like reference characters designate the same or similar parts throughout the several views, and wherein: 
         FIG. 1A  is a block diagram of a system for delivering a glutinous substance to a workpiece from an end-effector, according to one or more examples of the present disclosure; 
         FIG. 1B  is a block diagram of an installation device of the system of  FIG. 1A , according to one or more examples of the present disclosure; 
         FIG. 1C  is a block diagram of a removal device of the system of  FIG. 1A , according to one or more examples of the present disclosure; 
         FIG. 2  is a schematic, perspective view of an applicator of the system of  FIG. 1A , according to one or more examples of the present disclosure; 
         FIG. 3A  is a schematic, cross-sectional view of the applicator of  FIG. 2 , according to one or more examples of the present disclosure; 
         FIG. 3B  is a schematic, cross-sectional view of the applicator of  FIG. 2 , according to one or more examples of the present disclosure; 
         FIG. 4  is a schematic, perspective view of an applicator of the system of  FIG. 1A , according to one or more examples of the present disclosure; 
         FIG. 5A  is a schematic, cross-sectional view of the applicator of  FIG. 4 , according to one or more examples of the present disclosure; 
         FIG. 5B  is a schematic, cross-sectional view of the applicator of  FIG. 4 , according to one or more examples of the present disclosure; 
         FIG. 6  is a schematic, cross-sectional view of an applicator of the system of  FIG. 1A , according to one or more examples of the present disclosure; 
         FIG. 7A  is a schematic, exploded perspective view of an applicator of the system of  FIG. 1A , according to one or more examples of the present disclosure; 
         FIG. 7B  is a schematic, exploded perspective view of an applicator of the system of  FIG. 1A , according to one or more examples of the present disclosure; 
         FIG. 8A  is a schematic, perspective view of an applicator of the system of  FIG. 1A , according to one or more examples of the present disclosure; 
         FIG. 8B  is a schematic, top plan view of a detail of the applicator of  FIG. 8A , according to one or more examples of the present disclosure; 
         FIG. 8C  is a schematic, perspective view of an applicator of the system of  FIG. 1A , according to one or more examples of the present disclosure; 
         FIG. 8D  is a schematic, top plan view of a detail of the applicator of  FIG. 8C , according to one or more examples of the present disclosure; 
         FIG. 8E  is a schematic, perspective view of an applicator of the system of  FIG. 1A , according to one or more examples of the present disclosure; 
         FIG. 8F  is a schematic, top plan view of a detail of the applicator of  FIG. 8E , according to one or more examples of the present disclosure; 
         FIG. 8G  is a schematic, top plan view of a detail of an applicator of the system of  FIG. 1A , according to one or more examples of the present disclosure; 
         FIG. 9  is a schematic, cross-sectional side of an applicator of the system of  FIG. 1A , according to one or more examples of the present disclosure; 
         FIG. 10A  is a schematic, perspective view of an applicator of the system of  FIG. 1A  and an installation device of  FIG. 1B , according to one or more examples of the present disclosure; 
         FIG. 10B  is a schematic, perspective view of a removal device of  FIG. 1C , according to one or more examples of the present disclosure; 
         FIG. 11  is a schematic, exploded perspective view of a detail of the installation device of  FIG. 10A , according to one or more examples of the present disclosure; 
         FIG. 12  is a schematic, bottom view of the removal device of  FIG. 10B , according to one or more examples of the present disclosure; 
         FIG. 13A  is a schematic illustration of an applicator of the system of  FIG. 1A  in a first orientation relative to the removal device of  FIG. 10B , according to one or more examples of the present disclosure; 
         FIG. 13B  is a schematic illustration of the applicator of  FIG. 13A  in a second orientation relative to the removal device of  FIG. 10B , according to one or more examples of the present disclosure; 
         FIG. 13C  is a schematic illustration of the applicator of  FIG. 13A  in a third orientation relative to the removal device of  FIG. 10B , according to one or more examples of the present disclosure; 
         FIG. 14  is a block diagram of a method of delivering a glutinous substance to a workpiece from an end-effector, according to one or more examples of the present disclosure; 
         FIGS. 15A and 15B  collectively are a block diagram of a method of removing a tip from a body of an applicator, fixed to an end-effector, according to one or more examples of the present disclosure; 
         FIG. 16  is a block diagram of aircraft production and service methodology; and 
         FIG. 17  is a schematic illustration of an aircraft. 
     
    
    
     DETAILED DESCRIPTION 
     In  FIGS. 1A-1C , referred to above, solid lines, if any, connecting various elements and/or components may represent mechanical, electrical, fluid, optical, electromagnetic and other couplings and/or combinations thereof. As used herein, “coupled” means associated directly as well as indirectly. For example, a member A may be directly associated with a member B, or may be indirectly associated therewith, e.g., via another member C. It will be understood that not all relationships among the various disclosed elements are necessarily represented. Accordingly, couplings other than those depicted in the block diagrams may also exist. Dashed lines, if any, connecting blocks designating the various elements and/or components represent couplings similar in function and purpose to those represented by solid lines; however, couplings represented by the dashed lines may either be selectively provided or may relate to alternative examples of the present disclosure. Likewise, elements and/or components, if any, represented with dashed lines, indicate alternative examples of the present disclosure. One or more elements shown in solid and/or dashed lines may be omitted from a particular example without departing from the scope of the present disclosure. Environmental elements, if any, are represented with dotted lines. Virtual (imaginary) elements may also be shown for clarity. Those skilled in the art will appreciate that some of the features illustrated in  FIGS. 1A-1C  may be combined in various ways without the need to include other features described in  FIGS. 1A-1C , other drawing figures, and/or the accompanying disclosure, even though such combination or combinations are not explicitly illustrated herein. Similarly, additional features not limited to the examples presented, may be combined with some or all of the features shown and described herein. 
     In  FIGS. 14-16 , referred to above, the blocks may represent operations and/or portions thereof and lines connecting the various blocks do not imply any particular order or dependency of the operations or portions thereof. Blocks represented by dashed lines indicate alternative operations and/or portions thereof. Dashed lines, if any, connecting the various blocks represent alternative dependencies of the operations or portions thereof. It will be understood that not all dependencies among the various disclosed operations are necessarily represented.  FIGS. 14-16  and the accompanying disclosure describing the operations of the method(s) set forth herein should not be interpreted as necessarily determining a sequence in which the operations are to be performed. Rather, although one illustrative order is indicated, it is to be understood that the sequence of the operations may be modified when appropriate. Accordingly, certain operations may be performed in a different order or simultaneously. Additionally, those skilled in the art will appreciate that not all operations described need be performed. 
     In the following description, numerous specific details are set forth to provide a thorough understanding of the disclosed concepts, which may be practiced without some or all of these particulars. In other instances, details of known devices and/or processes have been omitted to avoid unnecessarily obscuring the disclosure. While some concepts will be described in conjunction with specific examples, it will be understood that these examples are not intended to be limiting. 
     Unless otherwise indicated, the terms “first,” “second,” etc. are used herein merely as labels, and are not intended to impose ordinal, positional, or hierarchical requirements on the items to which these terms refer. Moreover, reference to, e.g., a “second” item does not require or preclude the existence of, e.g., a “first” or lower-numbered item, and/or, e.g., a “third” or higher-numbered item. 
     Reference herein to “one example” means that one or more feature, structure, or characteristic described in connection with the example is included in at least one implementation. The phrase “one example” in various places in the specification may or may not be referring to the same example. 
     As used herein, a system, apparatus, structure, article, element, component, or hardware “configured to” perform a specified function is indeed capable of performing the specified function without any alteration, rather than merely having potential to perform the specified function after further modification. In other words, the system, apparatus, structure, article, element, component, or hardware “configured to” perform a specified function is specifically selected, created, implemented, utilized, programmed, and/or designed for the purpose of performing the specified function. As used herein, “configured to” denotes existing characteristics of a system, apparatus, structure, article, element, component, or hardware which enable the system, apparatus, structure, article, element, component, or hardware to perform the specified function without further modification. For purposes of this disclosure, a system, apparatus, structure, article, element, component, or hardware described as being “configured to” perform a particular function may additionally or alternatively be described as being “adapted to” and/or as being “operative to” perform that function. 
     Illustrative, non-exhaustive examples, which may or may not be claimed, of the subject matter according the present disclosure are provided below. 
     Referring generally to  FIG. 1A  and particularly to, e.g.,  FIGS. 3A, 3B, 5A, 5B, 6, and 9 , applicator  102  for delivering glutinous substance  168  to workpiece  170  from end-effector  101  is disclosed. Applicator  102  comprises body  110 , comprising first channel  115  that comprises inlet portion  180 , comprising inlet  116  through which glutinous substance  168  enters applicator  102 , and outlet portion  182 , comprising outlet  117 , through which glutinous substance  168  exits outlet portion  182 . Inlet portion  180  is communicatively coupled with outlet portion  182  and at least a part of inlet portion  180  is oriented at an angle to outlet portion  182 . The angle is other than 180 degrees. Body  110  also comprises second channel  184 , communicatively coupled with first channel  115  and coaxial with outlet portion  182  of first channel  115 . Additionally, body  110  comprises sensor port  140 , communicatively coupled with first channel  115 . Applicator  102  also comprises plunger  186 , comprising gate  118 . Gate  118  is movable within outlet portion  182  of first channel  115  between, inclusively, an open position, allowing glutinous substance  168  to flow from inlet  116  of first channel  115  to outlet  117  of first channel  115  and a closed position, preventing glutinous substance  168  from flowing from inlet  116  of first channel  115  to outlet  117  of first channel  115 . Applicator  102  further comprises actuator  131 , selectively operable to move plunger  186  such that gate  118  moves between, inclusively, the open position and the closed position. Applicator  102  additionally comprises sensor  141 , communicatively coupled with first channel  115  via sensor port  140  and configured to detect at least one characteristic of glutinous substance  168  in first channel  115 . The preceding subject matter of this paragraph characterizes example 1 of the present disclosure. 
     At least the part of inlet portion  180  of first channel  115 , being oriented at an angle to outlet portion  182  of first channel  115 , allows end-effector  101  to more conveniently locate applicator  102  relative to workpiece  170  for delivering glutinous substance  168  to workpiece  170 . For example, orienting at least the part of inlet portion  180  of first channel  115  at an angle to outlet portion  182  of first channel  115  facilitates delivery of glutinous substance  168  to features of workpiece  170  (e.g., the overhangs, pockets, channels, and other tight spaces) that would be difficult to reach if inlet portion  180  of first channel  115  was not at an angle to outlet portion  182  of first channel  115 . Additionally, at least the part of inlet portion  180  of first channel  115 , being oriented at an angle to outlet portion  182  of first channel  115 , allows inlet  116  of inlet portion  180  of first channel  115  to be offset from outlet  117  of outlet portion  182  of first channel  115 , which provides spacing for actuator  131  to be coupled to body  110  in-line with outlet  117  of outlet portion  182 . 
     Sensor port  140 , being communicatively coupled with first channel  115 , promotes placement of sensor  141  close to outlet  117  of outlet portion  182  of first channel  115 , which helps to more accurately detect at least one characteristic of glutinous substance  168  at outlet  117  of outlet portion  182  of first channel  115 . Accurately detecting at least one characteristic of glutinous substance  168  at outlet  117  facilitates appropriate rates of delivery of glutinous substance  168  from outlet  117  of outlet portion  182  of first channel  115 , via control of actuator  131 , because detected characteristics better reflect the actual characteristics of glutinous substance  168  at outlet  117  compared to sensor  141  placed further away from outlet  117 , such as sensor  141  positioned upstream of applicator  102 . 
     According to one example, actuator  131  can be any of various linear actuators, such as a pneumatically-powered linear actuator with a double-acting piston configuration. Further, body  110  of applicator  102  can include an interface for mating with end-effector  101 . 
     Referring generally to  FIG. 1A  and particularly to, e.g.,  FIGS. 3A, 3B, 5A, 5B, 6, and 9 , sensor  141  is communicatively coupled with inlet portion  180  of first channel  115 . The preceding subject matter of this paragraph characterizes example 2 of the present disclosure, wherein example 2 also includes the subject matter according to example 1, above. 
     Communicatively coupling sensor  141  with inlet portion  180  of first channel  115  facilitates reliable detection of at least one characteristic of glutinous substance  168  in applicator  102  by detecting at least one characteristic of glutinous substance  168  upstream of outlet portion  182  of first channel  115  so as to avoid flow interruptions of glutinous substance  168  in outlet portion  182  of first channel  115  associated with actuation of plunger  186  by actuator  131 . 
     Referring generally to  FIG. 1A  and particularly to, e.g.,  FIGS. 5A-7B, 9, and 13A-13C , sensor port  140  is configured to releasably retain sensor  141 . The preceding subject matter of this paragraph characterizes example 3 of the present disclosure, wherein example 3 also includes the subject matter according to any one of examples 1 to 2, above. 
     Releasably retaining sensor  141  with sensor port  140  allows sensor  141  to be quickly and easily decoupled from body  110  and coupled to body  110 , which can be useful when body  110  is treated as disposable or when body  110  is replaced with a new body. For example, when body  110  is treated as disposable, sensor  141  can be easily decoupled from body  110 , to preserve sensor  141 , before body  110  is discarded. Likewise, after sensor  141  is decoupled, sensor  141  can be easily coupled to a new or replacement body for subsequent use. In other words, in view of the foregoing, sensor  141  is not tied to one particular body  110 , but rather the same sensor  141  can be used or interchangeable with multiple bodies  110 . 
     According to one example, sensor port  140  releasably retains sensor  141  via a threaded engagement. In another example, sensor port  140  releasably retains sensor  141  via a snap-fit engagement. According to yet a further example, sensor port  140  releasably retains sensor  141  via a twist-and-lock engagement, which includes an angled slot that receives and retains a pin of sensor  141 . In an additional example, sensor port  140  releasably retains sensor  141  via any of various fastening arrangements, such as those including one or more of nuts, bolts, clamps, and the like. 
     Referring generally to  FIG. 1A  and particularly to, e.g.,  FIGS. 2, 4-5B, 7A-8A, 8C, 8E , and  9 , applicator  102  further comprises second sensor  141   a , communicatively coupled with first channel  115 . Sensor  141  is configured to detect a first characteristic of glutinous substance  168 . Second sensor  141   a  is configured to detect a second characteristic of glutinous substance  168 . First characteristic of glutinous substance  168  is different than the second characteristic of glutinous substance  168 . The preceding subject matter of this paragraph characterizes example 4 of the present disclosure, wherein example 4 also includes the subject matter according to any one of examples 1 to 3, above. 
     Detecting a first characteristic of glutinous substance  168 , with sensor  141 , that is different than a second characteristic of glutinous substance  168  detected by second sensor  141   a  promotes more precise and effective control of delivery of glutinous substance  168  from applicator  102  to workpiece  170 . For example, knowledge of two different characteristics of glutinous substance  168  provides a better prediction of the flow characteristics of glutinous substance  168  through and from applicator  102  than a single characteristic. 
     Referring generally to  FIG. 1A  and particularly to, e.g.,  FIGS. 2, 4-5B, 7A-8A, 8C, 8E , and  9 , first characteristic of glutinous substance  168  is temperature and second characteristic of glutinous substance  168  is pressure. The preceding subject matter of this paragraph characterizes example 5 of the present disclosure, wherein example 5 also includes the subject matter according to example 4, above. 
     The temperature and pressure of glutinous substance  168  affect the flow characteristics (e.g., viscosity) of glutinous substance  168 . Accordingly, detecting the temperature and pressure of glutinous substance  168  helps to predict the flow characteristics of glutinous substance  168  in first channel  115  of body  110 . 
     Referring generally to  FIG. 1A  and particularly to, e.g.,  FIGS. 5A, 5B, 7A, 7B, and 9 , body  110  further comprises second sensor port  140   a , communicatively coupled with first channel  115 . Second sensor  141   a  is communicatively coupled with first channel  115  via second sensor port  140   a . Sensor  141  is releasably retained by sensor port  140  and second sensor  141   a  is releasably retained by second sensor port  140   a . The preceding subject matter of this paragraph characterizes example 6 of the present disclosure, wherein example 6 also includes the subject matter according to any one of examples 4 to 5, above. 
     Releasably retaining second sensor  141   a  with second sensor port  140   a  allows second sensor  141   a  to be easily decoupled from body  110  and coupled to body  110 , which can be useful when body  110  is treated as disposable or when body  110  is replaced with a new body. For example, when body  110  is treated as disposable, second sensor  141   a  can be easily decoupled from body  110 , to preserve second sensor  141   a , before body  110  is discarded. Likewise, second sensor  141   a  can be easily coupled to a new or replacement body for subsequent use. In other words, in view of the foregoing, second sensor  141   a  is not tied to one particular body  110 , but rather the same second sensor  141   a  can be used or interchangeable with multiple bodies  110 . 
     Furthermore, releasably retaining sensor  141  with sensor port  140   a  and second sensor  141   a  with separate second sensor port  140   a  allows sensor  141  to be coupled to and decoupled from body  110  independently of second sensor  141   a.    
     According to one example, second sensor port  140   a  releasably retains second sensor  141   a  via a threaded engagement. In another example, second sensor port  140   a  releasably retains second sensor  141   a  via a snap-fit engagement. According to yet a further example, second sensor port  140   a  releasably retains second sensor  141   a  via a twist-and-lock engagement, which includes an angled slot that receives and retains a pin of second sensor  141   a . In an additional example, second sensor port  140   a  releasably retains second sensor  141   s  via any of various fastening arrangements, such as those including one or more of nuts, bolts, clamps, and the like. 
     Referring generally to  FIG. 1A  and particularly to, e.g.,  FIGS. 5A-7B, 9 , and  FIGS. 13A-13C , sensor port  140  is configured differently than second sensor port  140   a . The preceding subject matter of this paragraph characterizes example 7 of the present disclosure, wherein example 7 also includes the subject matter according to example 6, above. 
     Sensor port  140  and second sensor port  140   a , being configured differently than each other, facilitate the retention of differently configured sensors to sensor port  140  and second sensor port  140   a , respectively. 
     Referring generally to  FIG. 1A  and particularly to, e.g.,  FIGS. 5A-7B, 9 , and  FIGS. 13A-13C , sensor port  140  and second sensor port  140   a  are angularly offset from each other. The preceding subject matter of this paragraph characterizes example 8 of the present disclosure, wherein example 8 also includes the subject matter according to any one of examples 6 to 7, above. 
     Angularly offsetting sensor port  140  from second sensor port  140   a  facilitates close proximity of sensor port  140  and second sensor port  140   a  on body  110 . With sensor port  140  and second sensor port  140   a  in close proximity on body  110 , sensor  141  and second sensor  141   a  can detect characteristics of glutinous substance  168  at the same approximate location within first channel  115 , which promotes an accurate relationship between characteristics of glutinous substance  168  detected by sensor  141  and second sensor  141   a.    
     Referring generally to  FIG. 1A  and particularly to, e.g.,  FIGS. 5A, 5B, 6, and 9 , the angle, at which at least the part of inlet portion  180  of first channel  115  is oriented relative to outlet portion  182  of first channel  115 , is greater than 90 degrees. The preceding subject matter of this paragraph characterizes example 9 of the present disclosure, wherein example 9 also includes the subject matter according to any one of examples 1 to 8, above. 
     Orienting at least the part of inlet portion  180  of first channel  115  at an angle greater than 90 degrees relative to outlet portion  182  of first channel  115  promotes the benefits of angling inlet portion  180  of first channel  115  relative to outlet portion  182  of first channel  115  presented above, while helping to reduce flow restriction of glutinous substance  168  at the transition from inlet portion  180  to outlet portion  182 . 
     Referring generally to  FIG. 1A  and particularly to, e.g.,  FIGS. 5A, 5B, 6, and 9 , the angle, at which at least the part of inlet portion  180  of first channel  115  is oriented relative to outlet portion  182  of first channel  115 , is less than 90 degrees. The preceding subject matter of this paragraph characterizes example 10 of the present disclosure, wherein example 10 also includes the subject matter according to any one of examples 1 to 8, above. 
     Orienting at least the part of inlet portion  180  of first channel  115  at an angle less than 90 degrees relative to outlet portion  182  of first channel  115  promotes the benefits of angling inlet portion  180  of first channel  115  relative to outlet portion  182  of first channel  115  presented above, while helping to reduce flow restriction of glutinous substance  168  at the transition from inlet portion  180  to outlet portion  182 . 
     Referring generally to  FIG. 1A  and particularly to, e.g.,  FIGS. 3A and 3B , the angle, at which at least the part of inlet portion  180  of first channel  115  is oriented relative to outlet portion  182  of first channel  115 , is 90 degrees. The preceding subject matter of this paragraph characterizes example 11 of the present disclosure, wherein example 11 also includes the subject matter according to any one of examples 1 to 8, above. 
     Orienting at least the part of inlet portion  180  of first channel  115  at an angle of 90 degrees relative to outlet portion  182  of first channel  115  promotes the ability of end-effector  101  to locate applicator  102  relative to tight spaces of workpiece  170  for delivering glutinous substance  168  to the tight spaces. 
     Referring generally to  FIG. 1A  and particularly to, e.g.,  FIGS. 5A, 5B, and 9 , a first part of inlet portion  180  of first channel  115  is oblique to outlet portion  182  of first channel  115  and a second part of inlet portion  180  of first channel  115  is parallel to outlet portion  182  of first channel  115 . The first part of inlet portion  180  of first channel  115  is between the second part of inlet portion  180  of first channel  115  and outlet portion  182  of first channel  115 . The preceding subject matter of this paragraph characterizes example 12 of the present disclosure, wherein example 12 also includes the subject matter according to any one of examples 1 to 8, above. 
     The first part of inlet portion  180 , being oblique to outlet portion  182 , and the second part of inlet portion  180  being parallel to outlet portion  182  allows end-effector  101  to be in-line with outlet portion  182  of first channel  115  while also allowing inlet  116  of inlet portion  180  of first channel  115  to be offset from outlet  117  of outlet portion  182 . 
     Referring generally to  FIG. 1A  and particularly to, e.g.,  FIGS. 3A, 3B, 5A, 5B, 7A, 7B , and  9 , plunger  186  further comprises plug  188 , movable within second channel  184  and configured to prevent glutinous substance  168  from flowing from first channel  115  into second channel  184 . The preceding subject matter of this paragraph characterizes example 13 of the present disclosure, wherein example 13 also includes the subject matter according to any one of examples 1 to 12, above. 
     Plug  188  of plunger  186 , by preventing glutinous substance  168  from flowing from first channel  115  into second channel  184 , ensures glutinous substance  168  does not come into contact with actuator  131  via second channel  184 . In one example, plug  188  sealingly engages second channel  184  to form a seal that is maintained as plug  188  moves within second channel  184 . At least a portion of plug  188  can be made of a compliant material to facilitate a seal between plug  188  and second channel  184 . 
     Referring generally to  FIG. 1A  and particularly to, e.g.,  FIGS. 2-8A, 8C, 8E, 9, and 10 , body  110  further comprises actuator interface  130 . Actuator  131  is coupled to actuator interface  130  of body  110 . The preceding subject matter of this paragraph characterizes example 14 of the present disclosure, wherein example 14 also includes the subject matter according to any one of examples 1 to 13, above. 
     Actuator interface  130  facilitates releasable coupling of actuator  131  to body  110 . Releasably coupling actuator  131  to body  110  allows actuator  131  to be quickly and easily decoupled from body  110  and coupled to body  110 , which can be useful when body  110  is treated as disposable or when body  110  is replaced with a new body. For example, when body  110  is treated as disposable, actuator  131  can be easily decoupled from body  110 , to preserve actuator  131 , before body  110  is discarded. Likewise, after actuator  131  is decoupled, actuator  131  can be easily coupled to a new or replacement body for subsequent use. In other words, in view of the foregoing, actuator  131  is not tied to one particular body  110 , but rather the same actuator  131  can be used or interchangeable with multiple bodies  110 . 
     Referring generally to  FIG. 1A  and particularly to, e.g.,  FIGS. 2-8A, 8C, 8E, 9, and 10A , actuator  131  is configured to releasably interlock with actuator interface  130  of body  110  without using tools. The preceding subject matter of this paragraph characterizes example 15 of the present disclosure, wherein example 15 also includes the subject matter according to example 14, above. 
     Releasably interlocking actuator  131  with actuator interface  130  without tools, such as by hand, facilitates quick, easy, and simple coupling of actuator  131  to and decoupling of actuator  131  from body  110 . 
     Referring generally to  FIG. 1A  and particularly to, e.g.,  FIGS. 2, 4, 7A-8A, 8C, 8E, and 10A , actuator interface  130  comprises slots  171 . Actuator  131  comprises pins  173 , configured to be simultaneously laterally insertable into slots  171 . The preceding subject matter of this paragraph characterizes example 16 of the present disclosure, wherein example 16 also includes the subject matter according to any one of examples 14 to 15, above. 
     Simultaneous lateral insertion of pins  173  of actuator  131  into slots  171  of actuator interface  130  promotes secure releasable coupling of actuator  131  to body  110 . For example, slots  171  of actuator interface  130  can be positioned in a spaced apart manner about a first axis and pins  173  of actuator  131  can be similarly positioned in a spaced apart manner about a second axis in a manner that complements the slots  171 . In such an example, with the first axis and the second axis being coaxial and pins  173  being laterally adjacent respective slots  171 , actuator  131  can be rotated, relative to actuator interface  130  and in a first rotational direction, about the second axis to simultaneously laterally insert pins  173  into respective slots  171 , which releasably couples actuator  131  to actuator interface  130 . When releasably coupled to actuator interface  130 , actuator  131  can be rotated, relative to actuator interface  130  and in a second rotational direction opposite the first rotational direction, about the second axis to simultaneously laterally remove pins  173  from respective slots  171 , which releasably decouples actuator  131  from actuator interface  130 . 
     Referring generally to  FIG. 1A  and particularly to, e.g.,  FIGS. 3A, 3B, 5A-6, and 9 , inlet portion  180  of first channel  115  has a cross-sectional area that is constant along a length of first channel  115  that is between inlet portion  180  of first channel  115  and outlet portion  182  of first channel  115 . The preceding subject matter of this paragraph characterizes example 17 of the present disclosure, wherein example 17 also includes the subject matter according to any one of examples 1 to 16, above. 
     The cross-sectional area of inlet portion  180  of first channel  115 , being constant along a length of first channel  115 , helps to reduce flow restriction of glutinous substance  168  within first channel  115 . 
     Referring generally to  FIG. 1A  and particularly to, e.g.,  FIGS. 3A, 3B, 5A-6, and 9 , at least a part of outlet portion  182  of first channel  115  converges toward outlet  117  of first channel  115 . The preceding subject matter of this paragraph characterizes example 18 of the present disclosure, wherein example 18 also includes the subject matter according to any one of examples 1 to 17, above. 
     Converging at least a part of outlet portion  182  of first channel  115  toward outlet  117  of first channel  115  facilitates predictable, uniform flow of glutinous substance  168  from outlet  117  of first channel  115 . 
     Referring generally to  FIG. 1A  and particularly to, e.g.,  FIGS. 3A, 3B, 5A-6, and 9 , outlet portion  182  of first channel  115  comprises constriction  175 . Gate  118  of plunger  186  is sealingly engaged with constriction  175  when gate  118  is in the closed position, preventing glutinous substance  168  from flowing from inlet  116  of first channel  115  to outlet  117  of first channel  115 . The preceding subject matter of this paragraph characterizes example 19 of the present disclosure, wherein example 19 also includes the subject matter according to any one of examples 1 to 18, above. 
     Constriction  175  of outlet portion  182  of first channel  115  facilitates flow of glutinous substance  168  through outlet portion  182  of first channel  115  and around gate  118  of plunger  186  when plunger  186  is in the open position and facilitates obstruction of flow of glutinous substance  168  through outlet portion  182  when plunger  186  is in the closed position and sealingly engaged with constriction  175 . At least a portion of gate  118  of plunger  186  can be made of a compliant material to facilitate a seal between gate  118  and constriction  175  when plunger  186  is in the closed position and gate  118  is within constriction  175 . 
     Referring generally to  FIG. 1A  and particularly to, e.g.,  FIGS. 2-8A, 8C, 8E, 9, 10A, and 13A-13C , body  110  has a one-piece monolithic construction. The preceding subject matter of this paragraph characterizes example 20 of the present disclosure, wherein example 20 also includes the subject matter according to any one of examples 1 to 19, above. 
     One-piece monolithic construction of body  110  promotes ease in assembly of applicator  102 . Additionally, body  110 , having a one-piece monolithic construction, facilitates disposability of body  110 . For example, body  110  can be made of relatively inexpensive materials, such as plastics, using a molding process or additive manufacturing process. In some examples, after applicator  102  is used to deliver glutinous substance  168  to workpiece  170  from end-effector  101 , applicator  102  can be decoupled from end-effector  101 , actuator  131  and sensor  141  can be decoupled from body  110 , and body  110  can be discarded. Then, a new or replacement body  110  can be coupled to end-effector  101 , and actuator  131  and sensor  141  can be coupled to the new or replacement body  110  in advance of delivering glutinous substance  168  to workpiece  170  from end-effector  101  with applicator  102  having the new or replacement body  110 . 
     Referring generally to  FIG. 1A  and particularly to, e.g.,  FIGS. 3A, 3B, 5A, 5B, 6 , and  9 , system  100  for delivering glutinous substance  168  to workpiece  170  from end-effector  101  is disclosed. System  100  comprises applicator  102 , coupled to end-effector  101 , comprising body  110 . Body  110  comprises first channel  115  that comprises inlet portion  180 , comprising inlet  116  through which glutinous substance  168  enters applicator  102 , and outlet portion  182 , comprising outlet  117 , through which glutinous substance  168  exits outlet portion  182 . Inlet portion  180  is communicatively coupled with outlet portion  182  and at least a part of the inlet portion  180  is oriented at an angle to the outlet portion  182 , where the angle is other than 180 degrees. Body  110  also comprises second channel  184 , communicatively coupled with first channel  115  and coaxial with outlet portion  182  of first channel  115 . Body  110  further comprises sensor port  140 , communicatively coupled with first channel  115 . Applicator  102  also comprises plunger  186 , comprising gate  118 . Gate  118  is movable within outlet portion  182  of first channel  115  between, inclusively, an open position, allowing glutinous substance  168  to flow from inlet  116  of first channel  115  to outlet  117  of first channel  115  and a closed position, preventing glutinous substance  168  from flowing from inlet  116  of first channel  115  to outlet  117  of first channel  115 . Applicator  102  further comprises actuator  131 , selectively operable to move plunger  186  such that gate  118  moves between, inclusively, the open position and the closed position. Additionally, applicator  102  comprises sensor  141 , communicatively coupled with first channel  115  via sensor port  140  and configured to detect at least one characteristic of glutinous substance  168  in first channel  115  and to generate output corresponding to at least the one characteristic of glutinous substance  168 . System  100  also comprises controller  105 , operatively coupled with sensor  141  of applicator  102  and with actuator  131  of applicator  102 . Controller  105  is configured to regulate a rate, at which glutinous substance  168  flows from outlet  117  of first channel  115  of body  110  of applicator  102 , by controlling operation of actuator  131  of applicator  102 , responsive to, at least in part, the output received from sensor  141 . The preceding subject matter of this paragraph characterizes example 21 of the present disclosure. 
     At least the part of inlet portion  180  of first channel  115 , being oriented at an angle to outlet portion  182  of first channel  115 , allows end-effector  101  to more conveniently locate applicator  102  relative to workpiece  170  for delivering glutinous substance  168  to workpiece  170 . For example, orienting at least the part of inlet portion  180  of first channel  115  at an angle to outlet portion  182  of first channel  115  facilitates delivery of glutinous substance  168  to features of workpiece  170  (e.g., the overhangs, pockets, channels, and other tight spaces) that would be difficult to reach if inlet portion  180  of first channel  115  was not at an angle to outlet portion  182  of first channel  115 . Additionally, at least the part of inlet portion  180  of first channel  115 , being oriented at an angle to outlet portion  182  of first channel  115 , allows inlet  116  of inlet portion  180  of first channel  115  to be offset from outlet  117  of outlet portion  182  of first channel  115 , which provides spacing for actuator  131  to be coupled to body  110  in-line with outlet  117  of outlet portion  182 . 
     Sensor port  140 , being communicatively coupled with first channel  115 , promotes placement of sensor  141  close to outlet  117  of outlet portion  182  of first channel  115 , which helps to more accurately detect at least one characteristic of glutinous substance  168  at outlet  117  of outlet portion  182  of first channel  115 . Accurately detecting at least one characteristic of glutinous substance  168  at outlet  117  facilitates appropriate rates of delivery of glutinous substance  168  from outlet  117  of outlet portion  182  of first channel  115 , via control of actuator  131 , because detected characteristics better reflect the actual characteristics of glutinous substance  168  at outlet  117  compared to sensor  141  placed further away from outlet  117 , such as sensor  141  positioned upstream of applicator  102 . 
     Controller  105 , controlling operation of actuator  131  of applicator  102 , responsive to, at least in part, output received from sensor  141  promotes precision, consistency, and quality of the flow of glutinous substance  168  from outlet  117 . In other words, controlling the rate of flow of glutinous substance  168  from outlet  117  of first channel  115  of body  110  of applicator  102 , responsive to, at least in part, the output received from sensor  141  facilitates a precise, consistent, and quality application of glutinous substance  168  to workpiece  170 . 
     Referring generally to, e.g.,  FIG. 1A  and particularly to  FIGS. 2, 4-5B, 7A-8A, 8C, 8E, and 9 , at least the one characteristic of glutinous substance  168  comprises at least one of temperature of glutinous substance  168  or pressure of glutinous substance  168 . The preceding subject matter of this paragraph characterizes example 22 of the present disclosure, wherein example 22 also includes the subject matter according to example 21, above. 
     The temperature and pressure of glutinous substance  168  affect the flow characteristics (e.g., viscosity) of glutinous substance  168 . Accordingly, detecting the temperature and pressure of glutinous substance  168  helps to predict the flow characteristics of glutinous substance  168  in first channel  115  of body  110 . 
     Referring generally to, e.g.,  FIG. 1A  and particularly to  FIGS. 3A, 3B, 5A, 5B, 6 , and  9 , controller  105 , responsive to, at least in part, the output from sensor  141 , indicating a change in at least the one characteristic of glutinous substance  168 , regulates the rate at which glutinous substance  168  flows through outlet  117  of first channel  115  of body  110  of applicator  102  by causing actuator  131  of applicator  102  to move gate  118  of plunger  186  between, inclusively, the open position, allowing glutinous substance  168  to flow from inlet  116  of first channel  115  to outlet  117  of first channel  115  and the closed position, preventing glutinous substance  168  from flowing from inlet  116  of first channel  115  to outlet  117  of first channel  115 . The preceding subject matter of this paragraph characterizes example 23 of the present disclosure, wherein example 23 also includes the subject matter according to any one of examples 21 to 22, above. 
     Regulating the rate at which glutinous substance  168  flows through outlet  117  of first channel  115  of body  110  responsive to, at least in part, a change in at least the one characteristic of glutinous substance  168 , promotes consistency in glutinous substance  168  delivered to workpiece  170  despite changes to characteristics of glutinous substance  168 . 
     Referring generally to, e.g.,  FIGS. 3A, 3B, 5A, 5B, 6, and 9  and particularly to  FIG. 14 , method  200  of delivering glutinous substance  168  to workpiece  170  from end-effector  101  is disclosed. Method  200  comprises (block  202 ) using end-effector  101  to position applicator  102  relative to workpiece  170 . Applicator  102  comprises body  110 , comprising first channel  115  that comprises inlet portion  180 , comprising inlet  116  through which glutinous substance  168  enters applicator  102 , and outlet portion  182 , comprising outlet  117 , through which glutinous substance  168  exits outlet portion  182 . Inlet portion  180  is communicatively coupled with outlet portion  182  and at least a part of the inlet portion  180  is oriented at an angle to the outlet portion ( 182 ), where the angle is other than 180 degrees. Body  110  also comprises second channel  184 , communicatively coupled with first channel  115  and coaxial with outlet portion  182  of first channel  115 . Additionally, body  110  comprises sensor port  140 , communicatively coupled with first channel  115 . Applicator  102  further comprises plunger  186 , comprising gate  118 . Gate  118  is movable within outlet portion  182  of first channel  115  between, inclusively, an open position, allowing glutinous substance  168  to flow from inlet  116  of first channel  115  to outlet  117  of first channel  115  and a closed position, preventing glutinous substance  168  from flowing from inlet  116  of first channel  115  to outlet  117  of first channel  115 . Also, applicator  102  comprises actuator  131 , selectively operable to move plunger  186  such that gate  118  moves between, inclusively, the open position and closed position. Additionally, applicator  102  comprises sensor  141 , communicatively coupled with first channel  115  via sensor port  140  and configured to detect at least one characteristic of glutinous substance  168  in first channel  115  and to generate output corresponding to at least the one characteristic of the glutinous substance. Method  200  also comprises (block  204 ) urging glutinous substance  168  from end-effector  101  through first channel  115  of body  110  of applicator  102  from inlet  116  of first channel  115  toward outlet  117  of first channel  115 . Furthermore, method  200  comprises (block  206 ) selectively operating actuator  131  of applicator  102  to regulate a rate at which glutinous substance  168  flows through first channel  115  of body  110  of applicator  102  responsive to, at least in part, the output received from sensor  141 . The preceding subject matter of this paragraph characterizes example 24 of the present disclosure. 
     At least the part of inlet portion  180  of first channel  115 , being oriented at an angle to outlet portion  182  of first channel  115 , allows end-effector  101  to more conveniently locate applicator  102  relative to workpiece  170  for delivering glutinous substance  168  to workpiece  170 . For example, orienting at least the part of inlet portion  180  of first channel  115  at an angle to outlet portion  182  of first channel  115  facilitates delivery of glutinous substance  168  to features of workpiece  170  (e.g., the overhangs, pockets, channels, and other tight spaces) that would be difficult to reach if inlet portion  180  of first channel  115  was not at an angle to outlet portion  182  of first channel  115 . Additionally, at least the part of inlet portion  180  of first channel  115 , being oriented at an angle to outlet portion  182  of first channel  115 , allows inlet  116  of inlet portion  180  of first channel  115  to be offset from outlet  117  of outlet portion  182  of first channel  115 , which provides spacing for actuator  131  to be coupled to body  110  in-line with outlet  117  of outlet portion  182 . 
     Sensor port  140 , being communicatively coupled with first channel  115 , promotes placement of sensor  141  close to outlet  117  of outlet portion  182  of first channel  115 , which helps to more accurately detect at least one characteristic of glutinous substance  168  at outlet  117  of outlet portion  182  of first channel  115 . Accurately detecting at least one characteristic of glutinous substance  168  at outlet  117  facilitates appropriate rates of delivery of glutinous substance  168  from outlet  117  of outlet portion  182  of first channel  115 , via control of actuator  131 , because detected characteristics better reflect the actual characteristics of glutinous substance  168  at outlet  117  compared to sensor  141  placed further away from outlet  117 , such as sensor  141  positioned upstream of applicator  102 . 
     Selectively operating actuator  131  of applicator  102  to regulate the rate at which glutinous substance  168  flows through first channel  115 , responsive to, at least in part, output received from sensor  141  promotes precision, consistency, and quality of the flow of glutinous substance  168  from outlet  117 . In other words, controlling the rate of flow of glutinous substance  168  from outlet  117  of first channel  115  of body  110  of applicator  102 , responsive to, at least in part, the output received from sensor  141  facilitates a precise, consistent, and quality application of glutinous substance  168  to workpiece  170 . 
     Referring generally to, e.g.,  FIGS. 3A, 3B, 5A, 5B, 6, and 9  and particularly to  FIG. 14 , according to method  200 , (clock  208 ) selectively operating actuator  131  of applicator  102  to regulate the rate at which glutinous substance  168  flows through first channel  115  of body  110  of applicator  102  comprises causing actuator  131  of applicator  102  to move gate  118  of plunger  186  between, inclusively, the open position, allowing glutinous substance  168  to flow from inlet  116  of first channel  115  to outlet  117  of first channel  115  and the closed position, preventing glutinous substance  168  from flowing from inlet  116  of first channel  115  to outlet  117  of first channel  115 , responsive to, at least in part, output from sensor  141  indicating a change in at least the one characteristic of glutinous substance  168  detected by sensor  141 . The preceding subject matter of this paragraph characterizes example 25 of the present disclosure, wherein example 25 also includes the subject matter according to example 24, above. 
     Regulating the rate at which glutinous substance  168  flows through outlet  117  of first channel  115  of body  110  responsive to, at least in part, a change in at least the one characteristic of glutinous substance  168 , promotes consistency in glutinous substance  168  delivered to workpiece  170  despite changes to characteristics of glutinous substance  168 . 
     Referring generally to, e.g.,  FIG. 1A  and particularly to  FIGS. 2, 4, 7A-8G, 10A , and  13 A- 13 C, applicator  102  for delivering glutinous substance  168  to workpiece  170  from end-effector  101  is disclosed. Applicator  102  comprises body  110  that comprises first channel  115 . First channel  115  comprises inlet portion  180  and outlet portion  182 . Inlet portion  180  of first channel  115  comprises inlet  116 , through which glutinous substance  168  enters applicator  102 . Inlet portion  180  of first channel  115  is communicatively coupled with outlet portion  182  of first channel  115 . Outlet portion  182  of first channel  115  comprises outlet  117 , through which glutinous substance  168  exits applicator  102 . Applicator  102  also comprises tip  160 , configured to be releasably attached to body  110 . Tip  160  comprises through cavity  162 , communicatively coupled with outlet portion  182  of first channel  115  of body  110  when tip  160  is coupled with body  110 . Applicator  102  further comprises coupler  154 , configured to releasably attach tip  160  to body  110  by interlocking with tip  160  and with body  110  such that coupler  154  has no more than three degrees of freedom relative to tip  160  and body  110 . Applicator  102  additionally comprises retainer  156 , configured to maintain coupler  154  interlocked with body  110  and with tip  160 . The preceding subject matter of this paragraph characterizes example 26 of the present disclosure. 
     Tip  160 , being configured to be releasably attached to body  110 , facilitates interchangeability of tips with body  110 . For example, tips  160  of different sizes and shapes, each configured to apply glutinous substance  168  to workpiece  170  differently, can be releasably attached to body  110  in response to application constraints associated with workpiece  170 . Such interchangeability of tips  160  promotes the ability to apply glutinous substance  168  to workpiece  170  differently with one body  110 . Using one body  110  and multiple, interchangeable tips  160 , to apply glutinous substance  168  to workpiece differently facilitates a reduction in manufacturing delays and costs. For example, body  110  can be made of a material that is different (e.g., more expensive or more easy to manufacture) than that of tip  160 . Coupler  154 , interlocking with tip  160  and with body  110  such that coupler  154  has no more than three degrees of freedom relative to tip  160  and body  110 , promotes fixation of tip  160  to body  110 . Moreover, coupler  154  allows tip  160  to be both sufficiently interlocked with body  110 , for applying glutinous substance  168  to workpiece  170 , and releasable from body  110 , for quick and easy removal of tip  160  from body  110  after glutinous substance  168  is applied to workpiece  170  from tip  160 . Retainer  156  ensures that coupler  154  both remains interlocked with body  110  and with tip  160 , while tip  160  is used to apply glutinous substance  168  to workpiece  170 , and allows release of tip  160  from body  110  when removal of tip  160  from body  110  is desired. 
     Referring generally to, e.g.,  FIG. 1A  and particularly to  FIGS. 2, 4, 7A-9, 10A , and  13 C, body  110  further comprises tip-interface portion  150 , defining outlet  117  of first channel  115 . Tip-interface portion  150  of body  110  is inserted into through cavity  162  of tip  160  when tip  160  is releasably attached to body  110 . The preceding subject matter of this paragraph characterizes example 27 of the present disclosure, wherein example 27 also includes the subject matter according to example 26, above. 
     Tip-interface portion  150  promotes a secure fit between body  110  and tip  160  when tip  160  is releasably attached to body  110 . 
     Referring generally to, e.g.,  FIG. 1A  and particularly to  FIGS. 2, 4, 7A-9, 10A , and  13 C, tip-interface portion  150  of body  110  comprises external tapered surface  163 , having a first taper. Through cavity  162  of tip  160  comprises internal tapered surface  165 , having a second taper. External tapered surface  163  of tip-interface portion  150  of body  110  is in complementary engagement with internal tapered surface  165  of through cavity  162  of tip  160  when tip  160  is releasably attached to body  110 . The preceding subject matter of this paragraph characterizes example 28 of the present disclosure, wherein example 28 also includes the subject matter according to example 27, above. 
     Complementary engagement between external tapered surface  163  of tip-interface portion  150  of body  110  and internal tapered surface  165  of through cavity  162  of tip  160  promotes a tight fit between body  110  and tip  160 . Additionally, external tapered surface  163  and internal tapered surface  165 , being tapered, assists with the axial alignment of tip  160  relative to tip-interface portion  150  during installation of tip  160  onto tip-interface portion  150 . For example, as tip-interface portion  150  of body is received within through cavity  162  of tip  160 , engagement of external tapered surface  163  and internal tapered surface  165  can help to reposition tip  160  relative to tip-interface portion  150 , if tip  160  is initially axially misaligned relative to tip-interface portion  150 , such that tip  160  becomes axially aligned with tip-interface portion  150 . 
     Referring generally to, e.g.,  FIG. 1A  and particularly to  FIGS. 2, 4, 7A-9, 10A , and  13 C, first taper of external tapered surface  163  of tip-interface portion  150  of body  110  is the same as second taper of internal tapered surface  165  of through cavity  162  of tip  160 . The preceding subject matter of this paragraph characterizes example 29 of the present disclosure, wherein example 29 also includes the subject matter according to example 28, above. 
     First taper of external tapered surface  163  of tip-interface portion  150  of body  110  being the same as second taper of internal tapered surface  165  of through cavity  162  of tip  160  promotes complementary engagement between external tapered surface  163  of tip-interface portion  150  and internal tapered surface  165  of through cavity  162 . 
     Referring generally to, e.g.,  FIG. 1A  and particularly to  FIGS. 2, 4, 7A-9, 10A , and  13 C, external tapered surface  163  of tip-interface portion  150  of body  110  and internal tapered surface  165  of through cavity  162  of tip  160  are conically shaped. The preceding subject matter of this paragraph characterizes example 30 of the present disclosure, wherein example 30 also includes the subject matter according to any one of examples 28 to 29, above. 
     The conical shape of external tapered surface  163  of tip-interface portion  150  of body  110  and internal tapered surface  165  of through cavity  162  of tip  160  promotes ease in axially aligning tip  160  relative to tip-interface portion  150 , during installation of tip  160  onto tip-interface portion  150 . Additionally, the conical shape of external tapered surface  163  and internal tapered surface  165  facilitates slidable insertion of tip-interface portion  150  into through cavity  162  of tip  160 . Furthermore, the conical shape of external tapered surface  163  and internal tapered surface  165  allows co-rotation between tip-interface portion  150  and tip  160 , which facilitates rotational adjustments for rotationally aligning tip-interface portion  150  and tip  160 . 
     Referring generally to, e.g.,  FIG. 1A  and particularly to  FIG. 9 , tip  160  further comprises gasket  167  within through cavity  162 . Gasket  167  forms a seal between tip-interface portion  150  of body  110  and tip  160  when tip  160  is releasably attached to body  110 . The preceding subject matter of this paragraph characterizes example 31 of the present disclosure, wherein example 31 also includes the subject matter according to any one of examples 27 to 30, above. 
     Gasket  167 , forming a seal between tip-interface portion  150  of body  110  and tip  160 , helps to ensure glutinous substance  168  in first channel  115  of body  110  and through cavity  162  of tip  160  does not leak through the interface between tip-interface portion  150  of body  110  and tip  160 . 
     In one example, gasket  167  can be an O-ring, or other mechanical seal, made from a compliant material, such as rubber, silicone, plastic polymer, or the like. 
     Referring generally to, e.g.,  FIG. 1A  and particularly to  FIGS. 2 and 7A-8G , body  110  further comprises one of tooth  157  or notch  159 . When body  110  comprises tooth  157 , tip  160  further comprises notch  159 . When body  110  comprises notch  159 , tip  160  further comprises tooth  157 . When tip  160  is coupled with body  110 , tooth  157  is received into notch  159 . The preceding subject matter of this paragraph characterizes example 32 of the present disclosure, wherein example 32 also includes the subject matter according to any one of examples 26 to 31, above. 
     Tooth  157 , being received into notch  159 , promotes rotational alignment between tip-interface portion  150  of body  110  and tip  160  during installation of tip  160  onto tip-interface portion  150 . Furthermore, tooth  157  and notch  159  help to ensure that coupler  154  does not releasably attach tip  160  to body  110  until tip  160  is rotationally aligned with tip-interface portion  150 . 
     Referring generally to, e.g.,  FIG. 1A  and particularly to  FIGS. 2 and 7A-8G , tooth  157  and notch  159  are wedge-shaped. The preceding subject matter of this paragraph characterizes example 33 of the present disclosure, wherein example 33 also includes the subject matter according to example 32, above. 
     As tip-interface portion  150  of body is received within through cavity  162  of tip  160 , engagement between tooth  157  and notch  159  can help to rotationally reposition tip  160  relative to tip-interface portion  150 , if tip  160  is initially rotationally misaligned relative to tip-interface portion  150 , such that tip  160  becomes rotationally aligned with tip-interface portion  150 . 
     Referring generally to  FIG. 1A  and particularly to, e.g.,  FIGS. 2, 4, 7A-8A, 8C, 8E, 10A, and 13A-13C , body  110  further comprises first coupler interface  152 . Tip  160  further comprises second coupler interface  164 . Coupler  154  comprises first portion  166 , engaged with first coupler interface  152  of body  110  when tip  160  is coupled with body  110 , and second portion  169 , releasably engaged with second coupler interface  164  of tip  160  when tip  160  is coupled with body  110 . The preceding subject matter of this paragraph characterizes example 34 of the present disclosure, wherein example 34 also includes the subject matter according to any one of examples 26 to 33, above. 
     First coupler interface  152  of body  110  and first portion  166  of coupler  154  facilitate interlocking of body  110  with coupler  154 . Second coupler interface  164  of tip  160  and second portion  169  of coupler  154  facilitate interlocking of tip  160  with coupler  154 . 
     Referring generally to  FIG. 1A  and particularly to, e.g.,  FIGS. 2, 4, 7A-8A, 8C, 8E, 10A, and 13A-13C , first coupler interface  152  of body  110  comprises one of a projection or a recess. When first coupler interface  152  of body  110  comprises the projection, first portion  166  of coupler  154  comprises the recess. When first coupler interface  152  of body  110  comprises the recess, first portion  166  of coupler  154  comprises the projection. The projection is receivable within the recess to engage first portion  166  of coupler  154  with first coupler interface  152  of body  110 . The preceding subject matter of this paragraph characterizes example 35 of the present disclosure, wherein example 35 also includes the subject matter according to example 34, above. 
     The projection, being receivable within the recess, provides a secure and reliable interlock between body  110  and coupler  154 , and helps to prevent movement of coupler  154  relative to body  110  in multiple degrees of freedom. 
     Referring generally to  FIG. 1A  and particularly to, e.g.,  FIGS. 2, 4, 7A, 8A, 8C, 8E, 10A, and 13A-13C , the recess is a through aperture. The preceding subject matter of this paragraph characterizes example 36 of the present disclosure, wherein example 36 also includes the subject matter according to example 35, above. 
     Recess, being a through aperture, helps to facilitate a low profile or reduced thickness of body  110  or coupler  154 . Additionally, recess, being a through aperture, helps to simplify manufacturing of body  110  or coupler  154 . 
     Referring generally to  FIG. 1A  and particularly to, e.g.,  FIGS. 2, 4, 7A-8A, 8C, 8E, 10A, and 13A-13C , second coupler interface  164  of tip  160  comprises a projection. Second portion  169  of coupler  154  comprises a recess. The projection of second coupler interface  164  of tip  160  is receivable within the recess of second portion  169  of coupler  154  to engage second portion  169  of coupler  154  with second coupler interface  164  of tip  160 . The preceding subject matter of this paragraph characterizes example 37 of the present disclosure, wherein example 37 also includes the subject matter according to any one of examples 34 to 36, above. 
     The projection, being receivable within the recess, provides a secure and reliable interlock between tip  160  and coupler  154 , and helps to prevent movement of tip  160  relative to coupler  154  in multiple degrees of freedom. 
     Referring generally to  FIG. 1A  and particularly to, e.g.,  FIGS. 2, 4, 7A-8A, 8C, 8E, 10A, and 13A-13C , the recess is a through aperture. The preceding subject matter of this paragraph characterizes example 38 of the present disclosure, wherein example 38 also includes the subject matter according to example 37, above. 
     Recess, being a through aperture, helps to facilitate a low profile or reduced thickness of coupler  154 . Additionally, recess, being a through aperture, helps to simplify manufacturing of coupler  154 . 
     Referring generally to  FIG. 1A  and particularly to, e.g.,  FIGS. 7A-8G, 10A, and 13A-13C , relief of the projection of second coupler interface  164  decreases toward through cavity  162  of tip  160 . The preceding subject matter of this paragraph characterizes example 39 of the present disclosure, wherein example 39 also includes the subject matter according to any one of examples 37 to 38, above. 
     Relief of the projection of second coupler interface  164 , decreasing toward through cavity  162  of tip  160 , promotes progressive engagement between second coupler interface  164  and second portion  169  of coupler  154  as tip  160  is releasably attached to body  110 . More specifically, relief of the projection of second coupler interface  164 , decreasing toward through cavity  162  of tip  160 , allows second coupler interface  164  to progressively increase deflection of second portion  169  of coupler  154  away from body  110  as tip  160  is releasably attached to body  110  until recess of second portion  169  of coupler  154  receives projection of second coupler interface  164  and second portion  169  of coupler  154  moves back toward body  110 . 
     Referring generally to  FIG. 1A  and particularly to, e.g.,  FIGS. 8B, 8D, 8F, and 12 , at least a part of second portion  169  of coupler  154  is not parallel with first portion  166  of the coupler and diverges away from body  110  when tip  160  is coupled with body  110 . The preceding subject matter of this paragraph characterizes example 40 of the present disclosure, wherein example 40 also includes the subject matter according to any one of examples 34 to 39, above. 
     At least the part of second portion  169  of coupler  154 , not being parallel with first portion  166  of the coupler and diverging away from body  110  when tip  160  is coupled with body  110  and coupler  154  is interlocked with body  110 , facilitates engagement between second portion  169  of coupler  154  and second coupler interface  164  of tip  160  as tip  160  is releasably attached to body  110  by promoting deflection of second portion  169  of coupler  154  away from body  110 . 
     Referring generally to  FIG. 1A  and particularly to, e.g.,  FIGS. 4, 7A-8G, 10A , and  13 A- 13 C, retainer  156  comprises a band, constricting both body  110  and coupler  154  to maintain coupler  154  in contact with body  110 . The preceding subject matter of this paragraph characterizes example 41 of the present disclosure, wherein example 41 also includes the subject matter according to any one of examples 26 to 40, above. 
     Constricting body  110  and coupler  154  to maintain coupler  154  in contact with body  110  promotes secure and releasable interlocking of coupler  154  with body  110 . 
     Referring generally to  FIG. 1A  and particularly to, e.g.,  FIGS. 4, 7A-8G, 10A , and  13 A- 13 C, the band is elastic. The preceding subject matter of this paragraph characterizes example 42 of the present disclosure, wherein example 42 also includes the subject matter according to example 41, above. 
     The elasticity of the band promotes the maintaining of coupler  154  in contact with body  110  while facilitating a biased return of second portion  169  of coupler  154  towards body  110  when recess of second portion  169  of coupler  154  receives projection of second coupler interface  164 . 
     Referring generally to  FIG. 1A  and particularly to, e.g.,  FIGS. 4, 7A-8A, 8C, 8E, 10A, and 13A-13C , retainer  156  comprises two elastic bands, spaced apart from each other along body  110 . The preceding subject matter of this paragraph characterizes example 43 of the present disclosure, wherein example 43 also includes the subject matter according to example 41, above. 
     Use of two elastic bands, spaced apart from each other along body  110 , promotes the maintaining of coupler  154  in contact with body  110  by providing two spaced-apart constriction forces against coupler  154 . 
     Referring generally to  FIG. 1A  and particularly to, e.g.,  FIGS. 2-3 and 14 , body  110  comprises groove  123 , configured to locate retainer  156  relative to body  110  when retainer  156  constricts body  110  and coupler  154  to maintain coupler  154  interlocked with body  110  and with tip  160 . The preceding subject matter of this paragraph characterizes example 44 of the present disclosure, wherein example 44 also includes the subject matter according to any one of examples 26 to 43, above. 
     When retainer  156  is located in groove  123 , groove  123  helps to maintain retainer  156  in place on body  110 . 
     Referring generally to  FIG. 1A  and particularly to, e.g.,  FIGS. 4, 7A-8G, 10A , and  8 A- 8 C, applicator  102  further comprises second coupler  154   a . Coupler  154  and second coupler  154   a  are on opposite sides of body  110  when retainer  156  constricts body  110 , coupler  154 , and second coupler  154   a  to maintain coupler  154  and second coupler  154   a  interlocked with body  110  and with tip  160 . The preceding subject matter of this paragraph characterizes example 45 of the present disclosure, wherein example 45 also includes the subject matter according to any one of examples 26 to 44, above. 
     Coupler  154  and second coupler  154   a , being on opposite sides of body  110 , promote strong, reliable, and redundant interlocking with tip  160  and body  110 . Additionally, for example, body  110  includes third coupler interface  152   a  on a side of body  110  opposite that of first coupler interface  152 . Tip  160  may further comprises fourth coupler interface  164   a  on a side of tip  160  opposite that of second coupler interface  164 . Second coupler  154   a  may comprise third portion  166   a  and fourth portion  169   a . Third portion  166   a  of second coupler  154   a  is engaged with third coupler interface  152   a  of body  110  when tip  160  is coupled with body  110 , and fourth portion  169   a  of second coupler  154   a  is releasably engaged with fourth coupler interface  164   a  of tip  160  when tip  160  is coupled with body  110 . 
     Referring generally to  FIGS. 1A and 1B  and particularly to, e.g.,  FIGS. 10A and 11 , installation device  300  for coupling tip  160  to body  110  of applicator  102  is disclosed. Applicator  102  comprises coupler  154 , releasably engageable with tip  160  to interlock tip  160  with body  110  of applicator  102 . Installation device  300  comprises tip holder  362  that comprises two resilient pawls  361 , opposing each other and configured to releasably retain tip  160 . The preceding subject matter of this paragraph characterizes example 46 of the present disclosure. 
     Installation device  300  facilitates the automated coupling of tip  160  to body  110  of applicator  102 . For example, installation device  300  releasably retains tip  160  in preparation for body  110  of applicator  102  to be located by end-effector  101  such that tip  160  interlocks with body  110  to couple tip  160  to body  110 . After tip  160 , releasably retained by two resilient pawls  361  of installation device  300 , interlocks with body  110  of applicator  102 , movement of body  110  of applicator  102  away from installation device  300  causes installation device  300  to release tip  160  from two resilient pawls  361  of installation device  300 . According to one example, each of two resilient pawls  361  includes a tip engagement feature, such as a tooth or groove, configured to engage a corresponding feature of tip  160 . 
     Referring generally to  FIGS. 1A and 1B  and particularly to, e.g.,  FIGS. 10A and 11 , installation device  300  further comprises base  363 . Tip holder  362  is releasably coupled to base  363 . The preceding subject matter of this paragraph characterizes example 47 of the present disclosure, wherein example 47 also includes the subject matter according to example 46, above. 
     Tip holder  362 , being releasably coupled to base  363 , allows installation device  300  to accommodate different sizes or configurations of tip holder  362 , which provides for the installation of different sizes or configurations of tip  160 . For example, tip holder  362 , having a first configuration for releasably retaining tip  160  of a first type, can be released from tip holder  362  and replaced with tip holder  362 , having a second configuration for releasably retaining tip  160  of a second type. 
     Referring generally to  FIGS. 1A and 1B  and particularly to, e.g.,  FIG. 11 , base  363  comprises pocket  369 . Tip holder  362  is receivable within pocket  369 . The preceding subject matter of this paragraph characterizes example 48 of the present disclosure, wherein example 48 also includes the subject matter according to example 47, above. 
     Pocket  369  promotes releasable coupling of tip holder  362  to base  363 . In one example, pocket  369  is configured to allow movement of tip holder  362  in only one degree of freedom relative to base  363 . 
     Referring generally to  FIGS. 1A and 1B  and particularly to, e.g.,  FIGS. 10A and 11 , tip holder  362  further comprises projection  365 , located between two resilient pawls  361  of tip holder  362  and spaced away from each of two resilient pawls  361 . The preceding subject matter of this paragraph characterizes example 49 of the present disclosure, wherein example 49 also includes the subject matter according to example 48, above. 
     Projection  365  helps to orientate tip  160  in proper orientation, when two resilient pawls  361  releasably retain tip  160 , while allowing for two resilient pawls  361  to flex. 
     Referring generally to  FIGS. 1A and 1B  and particularly to, e.g.,  FIGS. 10A and 11 , projection  365  of tip holder  362  is shorter than two resilient pawls  361  of tip holder  362 . The preceding subject matter of this paragraph characterizes example 50 of the present disclosure, wherein example 50 also includes the subject matter according to example 49, above. 
     Projection  365  of tip holder  362 , being shorter than two resilient pawls  361  of tip holder  362 , allows tip  160  to be properly oriented by projection  365  while being releasably retained by two resilient pawls  361 . 
     Referring generally to  FIGS. 1A and 1B  and particularly to, e.g.,  FIGS. 10A and 11 , base  363  further comprises ledge  371 . Two resilient pawls  361  of tip holder  362  extend away from base  363  in first direction  410 . Ledge  371  is spaced away from two resilient pawls  361  of tip holder  362  in third direction  414 , which is perpendicular to first direction  410  and opposite fourth direction  416 . The preceding subject matter of this paragraph characterizes example 51 of the present disclosure, wherein example 51 also includes the subject matter according to example 50, above. 
     Ledge  371  allows movement of tip  160 , when releasably retained by two resilient pawls  361  of tip holder  362 , to be constrained in third direction  414 . 
     Referring generally to  FIGS. 1A and 1B  and particularly to, e.g.,  FIGS. 10A and 11 , base  363  further comprises recess  367 , formed in ledge  371 . Recess  367  has abutment wall  380 . Abutment wall  380  of recess  367  and projection  365  of tip holder  362  prevent tip  160  from moving in second direction  412 , opposite first direction  410 , toward base  363  when tip  160  is releasably retained by two resilient pawls  361 . Abutment wall  380  of recess  367  and projection  365  of tip holder  362  prevent tip  160  from rotating relative to base  363  about an axis perpendicular to a first line, extending in second direction  412 , and a second line, extending in third direction  414 , when tip  160  is releasably retained by two resilient pawls  361 . The preceding subject matter of this paragraph characterizes example 52 of the present disclosure, wherein example 52 also includes the subject matter according to example 51, above. 
     Abutment wall  380  of recess  367  and projection  365  of tip holder  362  help to maintain tip  160 , releasably retained by two resilient pawls  361 , in a proper orientation for interlocking with body  110  of applicator  102 . As an example, abutment wall  380  of recess  367  and projection  365  of tip holder  362  help resist rotation of tip  160  as body  110  of applicator  102  is being interlocked with tip  160 . 
     Referring generally to  FIGS. 1A and 1B  and particularly to, e.g.,  FIGS. 10A and 11 , recess  367  is circumferentially open in first direction  410  away from base  363 . The preceding subject matter of this paragraph characterizes example 53 of the present disclosure, wherein example 53 also includes the subject matter according to example 52, above. 
     Recess  367 , being circumferentially open in first direction  410  away from base  363 , allows tip  160  to be removed from recess  367  in first direction  410 . 
     Referring generally to  FIGS. 1A and 1C  and particularly to, e.g.,  FIGS. 10B and 12-13C , removal device  400  for decoupling tip  160  from body  110  of applicator  102  is disclosed. Removal device  400  comprises wall  430 , which comprises proximal edge  440  and distal edge  442 , opposite proximal edge  440 . Removal device  400  also comprises through channel  460  in wall  430 . Removal device  400  further comprises pawl  404 , comprising proximal end  444 , coupled to wall  430 , distal end  446 , opposite proximal end  444 , first side  462  between proximal end  444  and distal end  446 , and second side  464 , opposite to first side  462 . Distal end  446 , first side  462 , and second side  464  of pawl  404  are delimited by through channel  460  and pawl  404  extends in fifth direction  420  from proximal end  444  to distal end  446  between proximal edge  440  of wall  430  and distal edge  442  of wall  430 . Removal device  400  additionally comprises wedge  406 , extending from wall  430  and perpendicular to wall  430 . The preceding subject matter of this paragraph characterizes example 54 of the present disclosure. 
     Removal device  400  facilitates the automated decoupling of tip  160  from body  110  of applicator  102 . As one example, removal device  400  promotes concurrent disengagement of coupler  154  of applicator  102  from tip  160  and prevention of movement of tip  160  in fifth direction  420  as body  110  of applicator  102  moves in fifth direction  420 . Pawl  404 , being coupled to wall  430  and having distal end  446 , first side  462 , and second side  464  delimited by through channel  460 , helps to streamline removal device  400  and promotes consistent flexing of pawl  404  relative to wall  430 . Wedge  406 , extending perpendicular to wall  430 , locates wedge  406  relative to pawl  404  such that coupler  154  of applicator  102  can be engaged by wedge  406  when tip  160  is engaged by pawl  404 . Also, wedge  406  provides mechanical advantage for separating coupler  154  from tip  160 . 
     Referring generally to  FIGS. 1A and 1C  and particularly to, e.g.,  FIGS. 10B and 12-13C , wedge  406  comprises leading edge  450  that extends from distal edge  442  of wall  430 . The preceding subject matter of this paragraph characterizes example 55 of the present disclosure, wherein example 55 also includes the subject matter according to example 54, above. 
     Leading edge  450  of wedge  406  promotes engagement with coupler  154  of applicator  102 . As an example, leading edge  450  can be a relatively sharp edge for facilitating insertion of wedge  406  between coupler  154  and tip  160 . 
     Referring generally to  FIGS. 1A and 1C  and particularly to, e.g.,  FIGS. 10B and 12-13C , leading edge  450  of wedge  406  and distal edge  442  of wall  430  both face in fifth direction  420  and leading edge  450  of wedge  406  is perpendicular to distal edge  442  of wall  430 . The preceding subject matter of this paragraph characterizes example 56 of the present disclosure, wherein example 56 also includes the subject matter according to example 55, above. 
     Leading edge  450  of wedge  406 , being perpendicular to distal edge  442  of wall  430 , locates leading edge  450  relative to pawl  404  such that coupler  154  of applicator  102  can be engaged by leading edge  450  when tip  160  is engaged by pawl  404 . 
     Referring generally to  FIGS. 1A and 1C  and particularly to, e.g.,  FIGS. 10B and 12-13C , removal device  400 , further comprises second wall  432 , extending from wall  430  perpendicularly to wall  430 . Wedge  406  forms a portion of second wall  432 . The preceding subject matter of this paragraph characterizes example 57 of the present disclosure, wherein example 57 also includes the subject matter according to any one of examples 54 to 56, above. 
     Forming wedge  406  as a portion of second wall  432  allows wedge  406  to be structurally supported by second wall  432 . Accordingly, second wall  432  promotes strength and rigidity of wedge  406 . 
     Referring generally to  FIGS. 1A and 1C  and particularly to, e.g.,  FIGS. 10B and 12-13C , removal device  400  further comprises second wedge  406   a , extending from wall  430  and perpendicular to wall  430 . Removal device  400  also comprises third wall  434 , extending from wall  430  perpendicularly to wall  430  and spaced-apart from second wall  432 . Second wedge  406   a  comprises second leading edge  450   a  that extends from distal edge  442  of wall  430  and forms a portion of third wall  434 . The preceding subject matter of this paragraph characterizes example 58 of the present disclosure, wherein example 58 also includes the subject matter according to example 57, above. 
     Second wedge  406   a , extending perpendicular to wall  430 , locates second wedge  406   a  relative to pawl  404  such that second coupler  154   a  of applicator  102  can be engaged by second wedge  406   a  when tip  160  is engaged by pawl  404 . Also, the shape of second wedge  406   a  provides mechanical advantage for separating second coupler  154   a  from tip  160 . Second leading edge  450   a  of second wedge  406   a  promotes engagement with second coupler  154   a  of applicator  102 . As an example, second leading edge  450   a  can be a relatively sharp edge for facilitating insertion of second wedge  406   a  between second coupler  154   a  and tip  160 . Forming second wedge  406   a  as a portion of third wall  434  allows second wedge  406   a  to be structurally supported by third wall  434 . Accordingly, third wall  434  promotes strength and rigidity of second wedge  406   a.    
     Referring generally to  FIGS. 1A and 1C  and particularly to, e.g.,  FIGS. 10B and 12-13C , second leading edge  450   a  of second wedge  406   a  and distal edge  442  of wall  430  both face in fifth direction  420  and second leading edge  450   a  of second wedge  406   a  is perpendicular to distal edge  442  of wall  430 . The preceding subject matter of this paragraph characterizes example 59 of the present disclosure, wherein example 59 also includes the subject matter according to example 58, above. 
     Second leading edge  450   a  of second wedge  406   a , being perpendicular to distal edge  442  of wall  430 , locates second leading edge  450   a  relative to pawl  404  such that second coupler  154   a  of applicator  102  can be engaged by second leading edge  450   a  when tip  160  is engaged by pawl  404 . 
     Referring generally to  FIGS. 1A and 1C  and particularly to, e.g.,  FIGS. 10B and 12-13C , pawl  404  is in a resting position, in which pawl  404  is parallel to wall  430 , when no force acts on pawl  404 . Pawl  404  is deflected away from wall  430  in seventh direction  424  to flexed position in which pawl  404  is non-parallel to wall  430 , when an external force acts on pawl  404  in seventh direction  424 , perpendicular to wall  430 . Pawl  404  automatically flexes in eighth direction  426  back to the resting position, when the external force is removed from pawl  404 . The preceding subject matter of this paragraph characterizes example 60 of the present disclosure, wherein example 60 also includes the subject matter according to any one of examples 54 to 59, above. 
     Pawl  404  allows third tooth  161  of tip  160 , while interlocked with body  110  of applicator  102 , to cause pawl  404  to deflect into flexed position and automatically flex back to resting position as tip  160  moves in sixth direction  422  relative to pawl  404 . 
     Referring generally to, e.g.,  FIGS. 10B and 12-13C  and particularly to  FIGS. 15A and 15B , method  500  of removing tip  160  from body  110  of applicator  102 , fixed to end-effector  101 , is disclosed. Applicator  102  comprises coupler  154 , releasably engageable with tip  160  to interlock tip  160  with body  110  of applicator  102 . Method  500  comprises (block  502 ), with coupler  154  of applicator  102  releasably engaged with tip  160 , locating end-effector  101  so that pawl  404  (e.g., pawl tooth  448  of pawl  404 ) is engaged with third tooth  161  on tip  160  to prevent movement of tip  160  in fifth direction  420  away from pawl  404  and wedge  406  disengages coupler  154  of applicator  102  from tip  160 . Method  500  additionally comprises, (block  504 ) with pawl  404  engaged with third tooth  161  on tip  160  and coupler  154  of applicator  102  disengaged from tip  160  by wedge  406 , using end-effector  101  to move body  110  of applicator  102  in fifth direction  420  to disengage tip  160  from body  110  of applicator  102 . The preceding subject matter of this paragraph characterizes example 61 of the present disclosure. 
     Method  500  facilitates the automated decoupling of tip  160  from body  110  of applicator  102 . As one example, method  500  promotes concurrent and automatic disengagement of coupler  154  of applicator  102  from tip  160  and prevention of movement of tip  160  in fifth direction  420  as body  110  of applicator  102  moves in fifth direction  420 . Wedge  406  provides mechanical advantage for disengaging coupler  154  from tip  160 . In one example, after body  110  of applicator  102  is moved in fifth direction  420  to disengage tip  160  from body  110  of applicator  102 , applicator  102  falls away from pawl  404  and body  110  of applicator  102  in eighth direction  426 , perpendicular to fifth direction  420 , by the force of gravity. 
     Referring generally to, e.g.,  FIGS. 10B and 12-13C  and particularly to  FIG. 15A , according to method  500 , locating end-effector  101  so that pawl  404  is engaged with third tooth  161  on tip  160  comprises (block  506 ) using end-effector  101  to move body  110  of applicator  102  toward pawl  404 , in sixth direction  422  opposite fifth direction  420 , along a straight line until pawl  404  engages third tooth  161 . The preceding subject matter of this paragraph characterizes example 62 of the present disclosure, wherein example 62 also includes the subject matter according to example 61, above. 
     Engaging pawl  404  with third tooth  161  on tip  160  by moving body  110  of applicator  102  toward pawl  404 , in sixth direction  422  opposite fifth direction  420 , along a straight line until pawl  404  engages third tooth  161  allows third tooth  161  on tip  160  to become engaged with pawl  404  in a first manner that accommodates certain configurations of applicator  102  and/or environmental constraints, such as spatial constraints and end-effector control constraints. 
     Referring generally to, e.g.,  FIGS. 10B and 12-13C  and particularly to  FIG. 15A , according to method  500 , (block  508 ) as end-effector  101  moves body  110  of applicator  102  in a straight line in sixth direction  422 , wedge  406  causes coupler  154  of applicator  102  to disengage from tip  160 . The preceding subject matter of this paragraph characterizes example 63 of the present disclosure, wherein example 63 also includes the subject matter according to example 62, above. 
     Disengaging coupler  154  of applicator  102  from tip  160  unlocks tip  160  from body  110  of applicator  102  to allow tip  160  to be removed from body  110  of applicator  102 . More specifically, disengaging coupler  154  of applicator  102  from tip  160  as body  110  of applicator  102  moves in the straight line in sixth direction  422  facilitates concurrent engagement of pawl  404  with third tooth  161  on tip  160  and disengagement of coupler  154  of applicator  102  from tip  160 , according to the first manner, which allows tip  160  to be removed from body  110  of applicator  102 . 
     Referring generally to, e.g.,  FIGS. 10B and 12-13C  and particularly to  FIG. 15A , according to method  500 , (block  510 ) locating end-effector  101 , so that pawl  404  is engaged with third tooth  161  on tip  160 , comprises resiliently flexing pawl  404 . The preceding subject matter of this paragraph characterizes example 64 of the present disclosure, wherein example 64 also includes the subject matter according to any one of examples 61 to 63, above. 
     Resilient flexibility of pawl  404  allows third tooth  161  of tip  160 , while interlocked with body  110  of applicator  102 , to cause pawl  404  to deflect into a flexed position, as third tooth  161  of tip  160  moves in sixth direction  422  relative to pawl  404 , and automatically flex back to a resting position as third tooth  161  of tip  160  moves in sixth direction  422  past the pawl  404 . 
     Referring generally to, e.g.,  FIGS. 10B and 12-13C  and particularly to  FIG. 15A , according to method  500 , (block  512 ) locating end-effector  101 , so that pawl  404  is engaged with third tooth  161  on tip  160 , comprises using end-effector  101  to move body  110  of applicator  102  in seventh direction  424 , perpendicular to fifth direction  420 , along a straight line until pawl  404  is engaged with third tooth  161  on tip  160 . The preceding subject matter of this paragraph characterizes example 65 of the present disclosure, wherein example 65 also includes the subject matter according to any one of examples 61 to 63, above. 
     Engaging pawl  404  with third tooth  161  on tip  160  by moving body  110  of applicator  102  in seventh direction  424 , perpendicular to fifth direction  420 , along a straight line until pawl  404  engages third tooth  161  on tip  160  allows third tooth  161  on tip  160  to become engaged with pawl  404  in a second manner that accommodates certain other configurations of applicator  102  and/or other environmental constraints. 
     Referring generally to, e.g.,  FIGS. 10B and 12-13C  and particularly to  FIG. 15A , according to method  500 , (block  514 ) as end-effector  101  moves body  110  of applicator  102  in a straight line in seventh direction  424 , perpendicular to fifth direction  420 , wedge  406  causes coupler  154  of applicator  102  to disengage from tip  160 . The preceding subject matter of this paragraph characterizes example 66 of the present disclosure, wherein example 66 also includes the subject matter according to example 65, above. 
     Disengaging coupler  154  of applicator  102  from tip  160  unlocks tip  160  from body  110  of applicator  102  to allow tip  160  to be removed from body  110  of applicator  102 . More specifically, disengaging coupler  154  of applicator  102  from tip  160  as body  110  of applicator  102  moves in the straight line in seventh direction  424  facilitates concurrent engagement of pawl  404  with third tooth  161  on tip  160  and disengagement of coupler  154  of applicator  102  from tip  160 , according to the second manner, which allows tip  160  to be removed from body  110  of applicator  102 . 
     Referring generally to, e.g.,  FIGS. 10B and 12-13C  and particularly to  FIG. 15A , according to method  500 , (block  516 ) disengaging coupler  154  of applicator  102  from tip  160  with wedge  406  comprises moving coupler  154  away from tip  160 . The preceding subject matter of this paragraph characterizes example 67 of the present disclosure, wherein example 67 also includes the subject matter according to any one of examples 61 to 66, above. 
     Moving coupler  154  away from tip  160  provides clearance for removing tip  160  from body  110  of applicator  102 . 
     Referring generally to, e.g.,  FIGS. 10B and 12-13C  and particularly to  FIG. 15A , according to method  500 , (block  518 ) applicator  102  further comprises retainer  156 , configured to maintain coupler  154  in contact with body  110  and with tip  160  when tip  160  is interlocked with body  110  of applicator  102 . Moving coupler  154  away from tip  160  comprises resiliently stretching retainer  156 . The preceding subject matter of this paragraph characterizes example 68 of the present disclosure, wherein example 68 also includes the subject matter according to example 67, above. 
     Retainer  156 , being resiliently stretchable, allows the coupler  154  to maintain contact with body  110  and with tip  160  until a force sufficient to overcome the bias of retainer  156  is applied to retainer  156 , such as by wedge  406 , which promotes the movement of coupler  154  away from tip  160  and removal of tip  160  from body  110  of applicator  102 . 
     Examples of the present disclosure may be described in the context of aircraft manufacturing and service method  1100  as shown in  FIG. 16  and aircraft  1102  as shown in  FIG. 16 . During pre-production, illustrative method  1100  may include specification and design (block  1104 ) of aircraft  1102  and material procurement (block  1106 ). During production, component and subassembly manufacturing (block  1108 ) and system integration (block  1110 ) of aircraft  1102  may take place. Thereafter, aircraft  1102  may go through certification and delivery (block  1112 ) to be placed in service (block  1114 ). While in service, aircraft  1102  may be scheduled for routine maintenance and service (block  1116 ). Routine maintenance and service may include modification, reconfiguration, refurbishment, etc. of one or more systems of aircraft  1102 . 
     Each of the processes of illustrative method  1100  may be performed or carried out by a system integrator, a third party, and/or an operator (e.g., a customer). For the purposes of this description, a system integrator may include, without limitation, any number of aircraft manufacturers and major-system subcontractors; a third party may include, without limitation, any number of vendors, subcontractors, and suppliers; and an operator may be an airline, leasing company, military entity, service organization, and so on. 
     As shown in  FIG. 17 , aircraft  1102  produced by illustrative method  1100  may include airframe  1118  with a plurality of high-level systems  1120  and interior  1122 . Examples of high-level systems  1120  include one or more of propulsion system  1124 , electrical system  1126 , hydraulic system  1128 , and environmental system  1130 . Any number of other systems may be included. Although an aerospace example is shown, the principles disclosed herein may be applied to other industries, such as the automotive industry. Accordingly, in addition to aircraft  1102 , the principles disclosed herein may apply to other vehicles, e.g., land vehicles, marine vehicles, space vehicles, etc. 
     Apparatus(es) and method(s) shown or described herein may be employed during any one or more of the stages of the manufacturing and service method  1100 . For example, components or subassemblies corresponding to component and subassembly manufacturing (block  1108 ) may be fabricated or manufactured in a manner similar to components or subassemblies produced while aircraft  1102  is in service (block  1114 ). Also, one or more examples of the apparatus(es), method(s), or combination thereof may be utilized during production stages  1108  and  1110 , for example, by substantially expediting assembly of or reducing the cost of aircraft  1102 . Similarly, one or more examples of the apparatus or method realizations, or a combination thereof, may be utilized, for example and without limitation, while aircraft  1102  is in service (block  1114 ) and/or during maintenance and service (block  1116 ). 
     Different examples of the apparatus(es) and method(s) disclosed herein include a variety of components, features, and functionalities. It should be understood that the various examples of the apparatus(es) and method(s) disclosed herein may include any of the components, features, and functionalities of any of the other examples of the apparatus(es) and method(s) disclosed herein in any combination, and all of such possibilities are intended to be within the scope of the present disclosure. 
     Many modifications of examples set forth herein will come to mind to one skilled in the art to which the present disclosure pertains having the benefit of the teachings presented in the foregoing descriptions and the associated drawings. 
     Therefore, it is to be understood that the present disclosure is not to be limited to the specific examples illustrated and that modifications and other examples are intended to be included within the scope of the appended claims. Moreover, although the foregoing description and the associated drawings describe examples of the present disclosure in the context of certain illustrative combinations of elements and/or functions, it should be appreciated that different combinations of elements and/or functions may be provided by alternative implementations without departing from the scope of the appended claims. Accordingly, parenthetical reference numerals in the appended claims are presented for illustrative purposes only and are not intended to limit the scope of the claimed subject matter to the specific examples provided in the present disclosure.