Patent Publication Number: US-2018031438-A1

Title: Weight Material Dispensing, Cutting and Applying System

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a divisional of U.S. patent application Ser. No. 14/564,029 (now U.S. Pat. No. 9,784,363), filed on Dec. 8, 2014, which is a continuation of U.S. patent application Ser. No. 13/175,413 (now U.S. Pat. No. 8,943,940), filed on Jul. 1, 2011, which is a continuation-in-part of U.S. patent application Ser. No. 12/683,495 (now U.S. Pat. No. 8,505,423), filed on Jan. 7, 2010, which claims priority to U.S. Provisional Application No. 61/143,284, filed on Jan. 8, 2009. This application claims the benefit of U.S. Provisional Application No. 61/428,534, filed on Dec. 30, 2010. The entire disclosures of the above applications are incorporated by reference herein. 
    
    
     FIELD 
     The present disclosure relates to weight material and more particularly to weight material dispensing and cutting systems and methods of operating such systems. 
     BACKGROUND 
     The background description provided herein is for the purpose of generally presenting the context of the disclosure. Work of the presently named inventors, to the extent it is described in this background section, as well as aspects of the description that may not otherwise qualify as prior art at the time of filing, are neither expressly nor impliedly admitted as prior art against the present disclosure. 
     Rotating assemblies are used in many applications. For example only, in automotive applications, wheel/tire assemblies are used to couple the vehicle to the ground. As the vehicle moves, wheel/tire assemblies rotate many times. At higher rates of speed, any weight imbalance in the wheel/tire assemblies may result in vibration, which increases wear on vehicle components and may be perceived as a poor ride by the driver. 
     As a result, wheel/tire assemblies are balanced in a balancing process. A balancing machine may spin a wheel/tire assembly to determine which points of the wheel/tire assembly require more or less weight so that the weight will be evenly distributed across the assembly. In most applications, it is easier to add additional weight than to remove weight. 
     The balancing machine may therefore determine how much weight to add to which locations of the wheel/tire assembly in order to balance the weight distribution of the assembly. In various implementations, two locations on the assembly may be selected, although more or fewer are possible. The balancing locations may be predetermined, and the balancing machine simply determines how much weight to apply to each of the predetermined balancing locations. 
     For a rimmed wheel, lead pound-on weights may be attached to the rim of the wheel. For example, lead weights from 0.5 ounces to 10 ounces in increments of 0.5 ounces may be stocked by businesses that balance wheel/tire assemblies. In this example, 20 different part numbers of lead weights must be inventoried and managed. The various lead weights may not look appreciably different in size, thereby leading to inadvertent mixing of the weights and inadvertent use of the wrong size of weight. In addition, lead toxicity is a concern. Other materials may be used for pound-on weights, such as iron. With iron pound-on weights, rust may be a concern. 
     To address these concerns, systems of encased lead weights have been developed. In these systems, individual weights (such as 0.5 ounce weights) are encased in a non-toxic coating, such as plastic, and the coating connects the individual weights together to form a segmented strip. Depending on the weight desired for balancing, the corresponding number of weights can be cut from the strip. The segmented strip of weights allows a single part number to be inventoried. The segmented strip may have an adhesive backing that secures the cut segments to the wheel/tire assembly. The non-toxic coating may protect against lead toxicity and/or rust. 
     SUMMARY 
     An apparatus for balancing a wheel includes a tool and an arm control module. The tool is mechanically coupled to an arm and includes a leading edge, a trailing edge, and a face surface that forms an arc between the leading and trailing edges. The arm control module actuates the arm to position the leading edge of the tool a predetermined distance from an edge of a deck of a cutting apparatus to receive a piece of non-segmented wheel weight material. A blade of a cutting apparatus passes between the edge of the deck and the leading edge of the tool to cut the piece from the non-segmented wheel weight material. 
     An apparatus for balancing a wheel includes a first tool, a second tool, an actuator, and an arm control module. The first tool is positioned by an arm and includes a first face surface. The second tool is positioned by the arm and includes a second face surface. The actuator selectively extends and retracts the second tool relative to the first tool. The arm control module, after a first piece of non-segmented wheel weight material is deposited on the first face surface and a second piece of the non-segmented wheel weight material is deposited on the second face surface, (i) applies the first piece along a first plane of the wheel by moving the arm and (ii) applies the second piece along a second plane of the wheel while the second tool is extended relative to the first tool by moving the arm. The first and second planes do not intersect. 
     A method of cutting non-segmented wheel weight material includes actuating an arm to position a leading edge of a tool a predetermined distance from an edge of a deck of a cutting apparatus. The tool includes the leading edge, a trailing edge, and a face surface that forms an arc between the leading and trailing edges. The method further includes receiving a piece of the non-segmented wheel weight material using the tool. A blade of the cutting apparatus passes between the edge of the deck and the leading edge of the tool to cut the piece. 
     A method for balancing a wheel includes selectively extending and retracting a first tool relative to a second tool. The first and second tools are positioned by an arm, and the first and second tools include first and second face surfaces, respectively. The method further includes, after a first piece of non-segmented wheel weight material is deposited on the first face surface and a second piece of the non-segmented wheel weight material is deposited on the second face surface, moving the arm to apply the first piece along a first plane of the wheel while the first tool is extended relative to the second tool and moving the arm to apply the second piece along a second plane of the wheel, wherein the first and second planes do not intersect. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The present disclosure will become more fully understood from the detailed description and the accompanying drawings, wherein: 
         FIG. 1A  is an isometric view of an example continuous weight material dispensing and cutting system according to the principles of the present disclosure; 
         FIG. 1B  is a front view of an example continuous weight material dispensing and cutting system according to the principles of the present disclosure; 
         FIG. 2A  is an isometric view of an example implementation of a cutting apparatus according to the principles of the present disclosure; 
         FIG. 2B  is a side view of an example implementation of a cutting apparatus according to the principles of the present disclosure; 
         FIG. 2C  is a top view of an example implementation of a cutting apparatus according to the principles of the present disclosure; 
         FIG. 2D  is a simplified top view of an example implementation of a cutting apparatus according to the principles of the present disclosure; 
         FIG. 2E  is a partial front view of an example implementation of a cutting apparatus according to the principles of the present disclosure; 
         FIGS. 2F-2H  are cross-sectional views of example implementations of a cutting apparatus along the A-A line of  FIG. 2E  according to the principles of the present disclosure; 
         FIG. 2I  is a composite of end, side, and isometric views of a drive roller depicted in  FIG. 2H  according to the principles of the present disclosure; 
         FIG. 2J  is an end view of an example implementation of a cutting apparatus according to the principles of the present disclosure; 
         FIG. 3  is a functional block diagram of an example implementation of control electronics for the system according to the principles of the present disclosure; 
         FIG. 4A  is an isometric view of an example implementation of a dispensing apparatus according to the principles of the present disclosure; 
         FIG. 4B  is a front view of an example implementation of a dispensing apparatus according to the principles of the present disclosure; 
         FIG. 4C  is a rear view of an example implementation of a dispensing apparatus according to the principles of the present disclosure; 
         FIG. 4D  is a partial rear view of an example implementation of a dispensing apparatus according to the principles of the present disclosure; 
         FIG. 5  is an isometric view of an example implementation of a splicing apparatus according to the principles of the present disclosure; 
         FIG. 6  is a block diagram of an example wheel balancing system according to the principles of the present disclosure; 
         FIG. 7A  is an example carside view of a wheel and tire according to the principles of the present disclosure; 
         FIG. 7B  is an example cross sectional view of the wheel and the tire according to the principles of the present disclosure; 
         FIG. 8A and 8B  are front and side views, respectively, of an example implementation of an arm with and an end of arm tool (EOAT), a crowder, and a conveyer system according to the principles of the present disclosure; 
         FIGS. 9A-9H  are various isometric views of the cutting apparatus and a backing removal system according to the principles of the present disclosure; 
         FIGS. 10A-10H  are various isometric views of the cutting apparatus, the arm, and the EOAT according to the principles of the present disclosure; 
         FIGS. 11A-11G  are various views of wet out tools of the EOAT according to the principles of the present disclosure; 
         FIG. 12  is a flowchart depicting an example method of balancing a wheel using the cutting apparatus, the arm, and the EOAT according to the principles of the present disclosure; 
         FIG. 13  is a functional block diagram of an example control system of the arm and the EOAT according to the principles of the present disclosure; 
         FIG. 14  is an isometric view of an example implementation of a wheel balancing system including a mounting plane learning system according to the principles of the present disclosure; and 
         FIGS. 15A-15B  are a two-part flowchart depicting an example method of controlling the arm and the EOAT according to the principles of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     The following description is merely example in nature and is in no way intended to limit the disclosure, its application, or uses. For purposes of clarity, the same reference numbers will be used in the drawings to identify similar elements. As used herein, the phrase at least one of A, B, and C should be construed to mean a logical (A or B or C), using a non-exclusive logical or. It should be understood that steps within a method may be executed in different order without altering the principles of the present disclosure. 
     As used herein, the term module refers to an Application Specific Integrated Circuit (ASIC), an electronic circuit, a processor (shared, dedicated, or group) and memory that execute one or more software or firmware programs, a combinational logic circuit, and/or other suitable components that provide the described functionality. 
     The apparatuses and methods described herein may be implemented by one or more computer programs executed by one or more processors. The computer programs include processor-executable instructions that are stored on a non-transitory tangible computer readable medium. The computer programs may also include stored data. Non-limiting examples of the non-transitory tangible computer readable medium are nonvolatile memory, magnetic storage, and optical storage. 
     When individual lead or iron weights are encased and joined in a segmented strip, the granularity of control of the weight is limited. Cutting a segment with a partial lead weight is not an option because of the toxicity of the lead, and cutting the lead may be more difficult than cutting the casing. Similarly, cutting a segment with a partial iron weight exposes the iron to rust and may be more difficult than cutting only the casing. Weight pieces are therefore only available in increments of the individual weight. This may limit the accuracy of the balancing. In addition, if only half a segment in terms of weight is needed for balancing, the entire segment is used, thereby wasting half a segment. 
     To overcome the problems of this segmented design, a continuous strip of high-density weight material may be used. For ease of storage, handling, and transportation, the weight material may be flexible. For example, the weight material may be flexible enough to be stored in a roll. Because the weight material is continuous, the granularity of control of the weight of a segment can be made arbitrarily small. Manufacturing limitations may cause the linear density of the continuous weight material to vary slightly over the length of the continuous weight material. The precision of the cutting apparatus and the variance of the linear density of the weight material therefore dictates the accuracy of pieces cut from a continuous strip of the weight material. 
     In contrast to segmented strips of lead or iron weights connected by a casing, continuous weight material may have a cross-section that is substantially uniform along the length of the continuous weight material. The segmented material, meanwhile, has one cross-section where the lead/iron material is present and a different cross-section in the connecting spaces where only the casing is present. 
     Similarly, the linear density of the continuous weight material may remain approximately constant. This is in contrast to the segmented material, where the sections including lead/iron have a much higher linear density than the connecting sections. The continuous weight material may be available in different cross-sectional shapes and sizes to accommodate various aesthetic and packaging concerns. 
     One side of the continuous weight material may be partially or fully covered with an adhesive to allow a cut segment to be attached to a wheel. The adhesive may be in the form of an acrylic foam tape. A lining or backing may cover an exposed surface of the tape to prevent the tape from sticking to the continuous weight material when stored in a roll. In addition, the backing prevents contaminants from reducing the effectiveness of the adhesive. For example only, the continuous weight material may be available from the 3M Company, such as product numbers TN2015, TN2023, and TN4014. 
     For purposes of illustration only, the present disclosure describes continuous weight material in the context of wheel/tire assemblies. However, the systems and methods of the present disclosure apply to other applications where additional precise weights may be needed. For example only, precise weights may be used in balancing other components in both automotive and non-automotive applications. The components may be rotating components, such as a flywheel or a driveshaft, or may be components that reciprocate or move in another fashion. The systems and methods of the present disclosure apply to weight balancing even for stationary objects, where desired weight balance parameters may be specified. 
     Referring now to  FIGS. 1A and 1B , isometric and front views of a continuous weight material dispensing and cutting system are shown. A strip  102  of continuous weight material is provided from a dispensing apparatus  104  to a cutting apparatus  106 . The dispensing apparatus  104  provides the strip  102  from a spool  110 . The cutting apparatus  106  advances the strip  102  by a specified length, and then cuts the strip  102  to create a piece of weight material. 
     The dispensing apparatus  104  may create a loop  120  from the strip  102  so that advancing of the strip  102  by the cutting apparatus  106  does not have to be precisely synchronized with feeding of the strip  102  by the dispensing apparatus  104 . In addition, the loop  120  provides a reserve of additional weight material to allow the cutting apparatus  106  to continue operating while the spool  110  is being changed. The size of the loop  120  may be limited by a distance to the floor. The size of the loop  120  may also be limited by the ability of the cutting apparatus  106  to pull the weight of the weight material included in the loop  120 . For example, motor torque and/or friction may limit the amount of weight the cutting apparatus  106  can pull. 
     Referring now to  FIGS. 2A-2J , various views of an example implementation of the cutting apparatus  106  are presented. The cutting apparatus  106  includes a drive roller  130  that advances a predetermined length of the strip  102 . A cutting device  140  then cuts the strip  102 , thereby creating a piece of weight material. Prior to reaching the drive roller  130 , the strip  102  may be drawn through an alignment assembly  150 . The alignment assembly  150  ensures that the strip  102  enters at the correct orientation and position. In various implementations, such as is shown in  FIG. 2A , the alignment assembly  150  may include first, second, and third rollers  152 ,  154 , and  156 . In various implementations, one or more of the first, second, and third rollers  152 ,  154 , and  156  may be eliminated. 
     The height of the first roller  152  may be adjusted based on the cross-sectional thickness of the strip  102 . The first roller  152  may be adjusted using an adjustment knob  158 . In  FIG. 2D , a top view illustrates that the first roller  152  and the second and third rollers  154  and  156  may be adjusted laterally with respect to each other based on the cross-sectional width of the strip  102 . In various implementations, the second and third rollers  154  and  156  may be fixed, while the first roller  152  is adjusted laterally. 
     A first edge  162  of the first roller  152  and a first edge  164  of the second roller  154  define the track for the strip  102 . The distance between the first edges  162  and  164  may therefore be adjusted to be equal to or slightly greater than the cross-sectional width of the strip  102 . First and second guides  166  and  168  may further prevent the strip from moving in a lateral direction. The second guide  168  may be adjusted based on the cross-sectional width of the strip  102 . In various implementations, the first and second guides  166  and  168  may be shortened or eliminated altogether. 
     The drive roller  130  engages the strip  102  and pulls the strip  102  underneath the cutting device  140 . The drive roller  130  presses the strip  102  against an idle roller  180 . This increases the frictional force exerted on the strip  102  by the drive roller  130 , thereby reducing slippage. The idle roller  180  may rotate freely, such as on low-friction bearings, to reduce rubbing that would otherwise occur if the drive roller  130  simply pressed the strip  102  against a fixed surface. 
     The drive roller  130  may be directly driven by a stepper motor  190 . Directly driven means that the axle of the drive roller  130  is integral with or coupled in line with an output shaft of the stepper motor  190 . Directly driven therefore means that the drive roller  130  rotates at the same angular speed as the stepper motor  190 . Directly driven also means that an axis around which the drive roller  130  rotates is approximately collinear with an axis around which the output shaft of the stepper motor  190  rotates. One advantage of direct driving over other coupling mechanisms, such as gear, belt, or chain drives is that no slop or gear lash develops over time in a direct drive system. 
       FIGS. 2F-2H  depict example configurations for direct driving. The stepper motor  190  is mounted to a rigid plate  191 . An output shaft  192  of the stepper motor  190  fits into a corresponding void in a first end of a drive shaft  193 . An opposite end of the drive shaft  193  rides in a bearing  194 . The drive roller  130  is affixed to the drive shaft  193  and therefore rotates with the drive shaft  193 . One or more set screws, such as set screw  202 , may secure the drive roller  130  to the drive shaft  193 . 
     One or more set screws  195  may secure the drive shaft  193  to the output shaft  192 . For example only, the output shaft  192  may have a cross-section as shown in  FIG. 2F , which is a circle with two portions defined by two chords of the circle removed. Two set screws  195  may bear against each flat section  204 - 1  and  204 - 2 , respectively, of the cross-section. 
     Referring now to  FIG. 2G , the stepper motor  190  is secured to a rigid motor mount  196 . The drive roller  130  is affixed to a drive shaft  197 , which is supported by bearings  198 . The output shaft  192  is attached to a protruding end of the drive shaft  197  by a coupling  199 . The coupling  199  may allow for a small amount of axial, lateral, and angular misalignment between the drive shaft  197  and the output shaft  192 . 
     The misalignment is small and therefore the output shaft  192  and the drive shaft  197  are still approximately collinear, as required for direct driving. For example only, an angle misalignment of less than 1 degree and a lateral misalignment of less than 7 thousandths of an inch may still be considered approximately collinear with regard to the definition of direct driving. For applications where less precision is required, slightly more angular and lateral misalignment may be allowed, such as 5 degrees and 50 thousandths of an inch. 
     Referring now to  FIG. 2H , a unitary version of the drive roller  130  is shown. The drive roller  130  incorporates an axle that is supported by the bearings  198  and attached to the output shaft  192  of the stepper motor  190  by the coupling  199 . 
     Referring now to  FIG. 2I , end, side, and isometric views of the drive roller  130  as shown in  FIG. 2H . The drive roller  130  includes a unitary piece  278  having a roller core  280 , axle ends  281  and  282 , and bearing ends  283  and  284 . The axle ends  281  and  282  are on either side of the roller core  280  and may have a smaller diameter than the roller core  280 . The bearing ends  283  are on either end of the axle ends  281  and  282 , respectively, and may have a smaller diameter than the axle ends  281  and  282 . 
     The unitary piece  278  is formed from a single piece of material. In various implementations, the unitary piece  278  is rough machined, such as by using a lathe, from a piece of round stock, such as 1045 cold rolled steel. The roller core  280  is then coated with a cover material  286 , which may have a high coefficient of friction and be more compliant than metal, such as 60-durometer polyurethane. The cover material  286  and the bearing ends  283  may then be finely machined, such as by using a surface grinder. In various implementations, the axle ends  281  and  282  may also be finely machined. 
     Referring back to  FIG. 2A , the distance the strip  102  is moved with each step of the stepper motor  190  depends on configuration of the stepper motor  190  and an electrical driver of the stepper motor  190 , as well as the diameter of the drive roller  130 . For example only, the distance moved with each step may be between 7 and 8 ten thousandths of an inch, or may be four thousandths of an inch. For example only, a system according to the principles of the present disclosure may allow pieces of weight material to be generated with a repeatability of approximately 0.5 or 0.25 grams. 
     The variation in linear density of the weight material, and not the accuracy of the cutting system, may be the limiting factor with regard to weight repeatability. For example only, a system according to the principles of the present disclosure may produce pieces of weight material whose length deviates from the desired length (which may be calculated based on desired weight) by no more than plus or minus 0.5%, for a total range of 1%. 
     The idle roller  180  is mounted in a carriage  200 . The carriage  200  may move up and down with respect to the strip  102  to accommodate various thicknesses of the strip  102 . In addition, more or less pressure may be applied by the carriage  200  to increase the frictional force of the idle roller  180 . For example, in humid or oily environments, the pressure applied by the carriage  200  may be increased. 
     When the idle roller  180  is also driven, a second stepper motor (not shown) may be mounted to the carriage  200  so that the second stepper motor moves up and down with the carriage  200 . The second stepper motor directly drives the idle roller  180  in unison with driving of the drive roller  130  by the stepper motor  190 . Alternatively, the idle roller  180  may be driven from the stepper motor  190  via a belt/chain or gear train. In another alternative, the stepper motor  190  may directly drive the idle roller  180 , and the drive roller  130  is allowed to idle. 
     Downforce of the carriage  200  may be created in various ways. For example, air pressure may be used to press the carriage  200  against the drive roller  130 . In addition, gravity may provide downforce. Further, springs and/or hydraulic pressure may apply downforce to the carriage  200 . The air pressure or hydraulic pressure may be calibrated using a calibration procedure and/or may be manually set by an operator. 
     In various implementations, the drive roller  130  and/or the idle roller  180  may have a raised pattern that is imprinted on the strip as the strip passes between the drive roller  130  and the idle roller  180 . This pattern may have aesthetic value. In addition, the raised pattern may offer a better grip of the strip  102 , reducing slippage. 
     The stepper motor  190  is electronically controlled to advance a predetermined amount of the strip  102  past the cutting device  140 . Once this predetermined amount has been fed, the cutting device  140  actuates a blade  210  to cut a piece off of the strip  102 . For example only, the cutting device  140  may be actuated by air pressure. 
     As shown in more detail with respect to  FIG. 2J , the blade  210  may be positioned so that the cutting edge is not perpendicular to the direction of travel of the blade  210 . This causes the edge of the blade  210  to meet the strip  102  at a single point, which maximizes the cutting force of the blade  210 , similar to an angled guillotine. The blade  210  may be a standard trapezoidally shaped utility knife blade. The blade may be secured in a cartridge that is mounted to the cutting device  140  without using tools for quick replacement. For example only, the cartridge may be secured by thumbscrews. 
     A slit  212  may be located beneath the blade  210 . The blade  210  can therefore travel past the bottom of the strip  102 , insuring a complete cut. The slit  212  may be only slightly wider than the thickness of the blade  210 , thereby providing support on either side of the blade  210 . This prevents the strip  102  from being pressed through the slit  212  by the blade  210 , especially as the blade  210  dulls. 
     A shoe  220  may hold down the cut piece of material as the blade  210  retracts. The cut piece of weight material then falls free of the cutting apparatus  106 . The shoe  220  may not contact a cut piece of weight material that is very short. In various implementations, a transport system, such as a conveyor, may take the cut piece of weight material from the location of the cutting apparatus  106  to a location where the piece of weight material will be applied. 
     Locating the cutting apparatus  106  away from the application location may be necessary to accommodate space constraints. Alternatively, bins may be located adjacent to the cutting apparatus  106 . For example only, first and second bins  240  and  242  may be provided. The first and second bins  240  and  242  may correspond to first and second pieces of weight material for a given wheel/tire assembly. Each wheel/tire assembly may have two locations for application of wheel weight. 
     The first piece of weight material will be retrieved from the first bin  240  and applied to the first location, while the second piece of weight material will be retrieved from the second bin  242  and applied to the second location. A light may be associated with each of the bins  240  and  242  and may be illuminated to indicate from which of the bins  240  and  242  a piece of weight material should be retrieved. 
     A first diverter  250  may direct a piece of cut weight material from the cutting apparatus  106  to the first bin  240 . A first actuator  252  may move the diverter  250  to the side, thereby allowing a piece of cut weight material to fall to a second diverter  254 , which then directs the cut weight material to the second bin  242 . A second actuator  256  may move the second diverter  254  to the side. When both the first and second diverters  250  and  254  are moved to the side, the cut piece of weight material may fall into a discard bin. 
     For example, as described in more detail below, when a spliced section of the strip  102  is detected, the spliced section may be cut and discarded. In addition, pieces used for calibration and pieces at the beginning or end of a supply of weight material may be discarded. For example only, the first and second actuators  252  and  256  may be electrically powered or may be actuated by air pressure. A suction system may be used to remove the discarded pieces of weight material. The suction system may also dispose of the weight material backing when it is removed to apply the weight material to the wheel/tire assembly. 
     In various implementations, the backing material may be removed before the cut piece of weight material reaches the first diverter  250 . For example, the backing material may be removed as the strip  102  passes the drive roller  130 . In such a system, system components that will come into contact with the cut piece may be made from or coated with a nonstick coating. For example, the first and second diverters  250  and  254  and the first and second bins  240  and  242  may be plasma coated or coated with polytetrafluoroethylene (PTFE) or its equivalents. 
     The weight material may be applied by human operator or by a robot, with or without human assistance. A robotic application unit may be implemented in the system. The robotic application unit may retrieve the cut piece of weight material and apply the cut piece of weight material to an end effector. In various implementations, the robotic application unit may hold the piece of weight material with the end effector prior to the material being cut, eliminating the need to pick up the cut piece of weight material. The end effector may hold the material using any suitable system, including magnetic, vacuum, and/or mechanical gripping systems. 
     The robotic application unit then transports the piece of cut weight material to the wheel/tire assembly, where the end effector presses the piece of weight material against the appropriate spot on the wheel/tire assembly. In various implementations, a backing material with the weight material is removed by a second gripping apparatus. Alternatively, a vacuum may be used to remove the backing. The backing may be disposed of via a suction system. 
     Once the piece of weight material has been applied to the wheel/tire assembly, pressure may be applied across the length of the piece of weight material to wet out the piece of weight material. This pressure may be applied by the end effector or by a second end effector. 
     In order for an operator to accurately place a piece of weight material on a given position of a wheel/tire assembly, a witness mark may be added to the piece of weight material by the cutting apparatus  106 . The witness mark can then be aligned with a corresponding witness mark on the wheel. 
     For example only, a scribe cylinder  260  may be used to scribe a mark on the side of the strip  102 . To accomplish this, the stepper motor  190  may advance half of the desired length of the strip  102 , at which point the scribe cylinder  260  makes a scribe mark on the strip  102 . The stepper motor  190  then advances the remaining portion of the desired length of the strip  102 . Once the cutting device  140  cuts the piece of weight material from the strip  102 , the scribe mark is located in the middle of the resulting piece. 
     The scribe cylinder  260  may actuate a scribe head  262  that creates an indentation on the side of the strip  102 . For example only, the scribe cylinder  260  may be controlled by air pressure. Sensors may detect whether the various components of the system are operating correctly. For example only, sensors may measure whether the scribe cylinder  260  is actuating fully and whether the cutting device  140  is actuating fully. 
     A control enclosure  270  may include electronics that control the stepper motor  190 , and when present, the second stepper motor. The stepper motor  190  and the second stepper motor may both receive the same electrical signals to ensure that they operate in unison. The electronics may include one or more processors and circuitry that performs some or all of the functions shown in  FIG. 3 . The control enclosure  270  may also include pneumatic and/or hydraulic control devices, such as solenoids. These solenoids may be electrically controlled to provide air and/or hydraulic pressure at various times, such as to actuate the blade  210  and the scribe cylinder  260 . An air regulator with moisture separator may assure a clean air supply for pneumatic components. 
     In various implementations, the control enclosure  270  may include electronics that control both the dispensing apparatus  104  and the cutting apparatus  106 . The control enclosure  270  may be separate from, or separable from, the remainder of the cutting apparatus  106 . One or more wired or wireless links may allow communication between the control enclosure  270  and the cutting apparatus  106 . In addition, one or more wired or wireless links may allow communication between the control enclosure  270  and the dispensing apparatus  104 . The control enclosure  270  may provide one or more power supplies to the cutting apparatus  106  and/or the dispensing apparatus  104 . 
     Referring now to  FIG. 2J , the blade  210  is secured in a cartridge  214  by set screws  216 . The cartridge  214  may slide onto a track of the cutting device  140  and be secured by one or more thumbscrews (not shown). 
     Referring now to  FIG. 3 , a functional block diagram of an example control system of the control enclosure  270  is presented. A central control module  302  may receive weight data from a data receiver module  306 . The data receiver module  306  may receive desired weight values from a balancing machine. For example only, the data receiver module  306  may receive data over a serial interface, a parallel interface, a factory control network, a local area network, or a direct electrical interface. For example only, supported communication protocols may include Ethernet, Datahighway Plus (DH+), controller area network (CAN), and DeviceNet. In various implementations, while the data receiver module  306  receives the desired weight values from the balancing machine, the desired weight values are transferred via another apparatus, such as a conveyor system, an upper-level system, a plant management system, and a data tracking system. 
     In various implementations, the data receiver module  306  may have a conversion front end (not shown) and a reference interface, such as RS-232. The conversion front end converts an incoming interface to the reference interface. In this way, the conversion front end can be replaced when a new external interface is used, while retaining RS-232 for internal communication. 
     The data receiver module  306  may receive two weight values for each wheel/tire assembly. The central control module  302  provides weight values to a length converter module  310 , which converts the weight values into length values. This conversion is based on the linear density of the weight material, a value that may be stored in a linear density storage module  314 . 
     The central control module  302  may provide a linear density value to the linear density storage module  314 . Alternatively, the linear density storage module  314  may be preprogrammed with values of linear density for various available weight materials. The central control module  302  may then indicate to the linear density storage module  314  which material is being used. 
     In various implementations, the weight to length conversion may be performed by dividing the desired weight by the linear density of the weight material in use. The central control module  302  may communicate with an operator input/output device  318 . The operator input/output device  318  may provide sensory feedback to an operator and/or may receive input from the operator. 
     For example only, the operator input/output device  318  may allow for the operator to supply the linear density of the weight material being used. Alternatively, the operator may indicate which weight material is being used, and the central control module  302  will select the corresponding linear density in the linear density storage module  314 . 
     In other implementations, the operator input/output device  318  may offer the operator a selection of linear densities, from which the operator selects the correct linear density. In various implementations, various sensors may be present to determine the material&#39;s linear density. For example only, a calibration scale may be implemented. The central control module  302  may cause a predetermined length of material to be cut. The weight of this length of material, as measured by a calibration scale, and the requested length can be used to calculate linear density. 
     Alternatively, the calibration scale may be used to verify accuracy of the system. If the linear density as calculated based on the weight measured by the calibration scale does not match the expected density, the scale may be out of calibration, the material may be different than expected, and/or length errors may be present. This calibration process may also be manually initiated via the operator input/output device  318 . 
     In various implementations, the central control module  302  may determine linear density of the weight material based on the cross-sectional profile of the weight material. The central control module  302  may include one or more sensors that determine the cross-sectional profile of the weight material. Based on these sensors, the central control module  302  can select or calculate the linear density of the weight material. In various implementations, the volumetric density of the weight material may remain approximately constant. The linear density can thereby be calculated from the volumetric density based on the cross-sectional area of the weight material. 
     Once the central control module  302  has determined a desired length to which to cut the weight material, the central control module  302  provides this length to a stepper actuator control module  322 . The central control module  302  may convert the desired length into a number of steps for the stepper motor  190  and provide the length in units of steps. 
     The stepper actuator control module  322  then controls the stepper motor  190  to advance by the requested number of steps. Once the stepper actuator control module  322  has finished its movement, the stepper actuator control module  322  may transmit a completion signal to the central control module  302 . 
     The central control module  302  may then request that a cutter actuator control module  326  actuate the cutting device  140 . For example only, the cutter actuator control module  326  may energize a solenoid that allows air pressure to flow to the cutting device  140 , thereby forcing the blade  210  through the weight material. 
     In various implementations, the central control module  302  may apply a scribe mark to the piece of weight material. Whether the scribe mark is applied, and to where the scribe mark is applied, may be determined by operator input from the operator input/output device  318 . When a scribe mark will be added to the center of the piece, the central control module  302  may provide half the desired length to the stepper actuator control module  322 . 
     After completion of this half length, the central control module  302  provides a signal to the scribe actuator control module  330 . The scribe actuator control module  330  then actuates then actuates the scribe cylinder  260  to create the scribe mark. The central control module  302  then provides the remaining half length to the stepper actuator control module  322 . 
     Once the stepper actuator control module  322  signals that the stepper motor  190  has advanced through the second half of the length, the central control module  302  then instructs the cutter actuator control module  326  to cut the weight material. The scribe mark will then be in the center of the cut piece. 
     The central control module  302  may provide commands to a diverter actuator control module  334 . The diverter actuator control module  334  may direct cut pieces between different locations. For example only, the diverter actuator control module  334  may direct a cut piece between one or more bins and a discard bin. The diverter actuator control module  334  may also illuminate a light corresponding to the bin where the cut piece is located for retrieval by the operator. 
     The stepper motor  190  drives the drive roller  130 . The downforce of the carriage  200  against the weight material determines the frictional force, which prevents the weight material from slipping against the drive roller  130 . The central control module  302  may modulate the amount of downforce via a carriage downforce control module  338 . In various implementations, the carriage downforce control module  338  may control hydraulic and/or air pressure pressing the carriage  200  against the idle roller  180 . 
     The central control module  302  may receive inputs from one or more safety sensors  342 . For example only, the safety sensors  342  may sense whether maintenance doors are open. The central control module  302  may halt operation of various components, such as the cutter actuator control module  326  and the scribe actuator control module  330 , when any of the safety sensors  342  indicate that a maintenance door is open. 
     This prevents the operator from coming in contact with moving parts. Emergency stop switches (not shown) may be located at various locations on both the cutting apparatus  106  and the dispensing apparatus  104 . The emergency stop switches also halt operation of various components. This prevents operator injury and equipment damage in event of a fault. 
     In various implementations, the stepper actuator control module  322  may still be active when maintenance doors are open. The stepper actuator control module  322  may control the stepper motor  190  to advance, thereby drawing in new weight material when a new roll is begun. The operator may signal via the operator input/output device  318  to the central control module  302  that a new piece of material is being loaded. The stepper actuator control module  322  may then begin advancing the stepper motor  190  to draw in the new weight material. 
     A material detection module  346  may detect whether weight material is present. For example only, the material detection module  346  may detect once the roll of weight material has been used up. In this way, the central control module  302  can stop operation and not inadvertently output the last piece, which may be too short due to the weight material running out. 
     In addition, the central control module  302  will halt actuating the scribe cylinder  260  and the cutting device  140  when no weight material is present. When loading new material, the material detection module  346  may detect that the new weight material is present. The central control module  302  may then direct the stepper actuator control module  322  to advance the stepper motor  190  to draw the material into the cutting apparatus  106 . The material detection module  346  may use various types of sensors. For example only, the material detection module  346  may interface with a photoelectric sensor, a mechanical sensor, an infrared sensor, and/or an ultrasonic sensor. 
     A splice detection module  350  may detect splices in the weight material. When one roll of weight material ends, a new roll of weight material can be spliced to the end of the old roll. In this way, operation is continuous, without having to feed a new roll of weight material. However, the splice itself may not be desirable for placing on a wheel/tire assembly. 
     Therefore, when the splice detection module  350  detects a splice, the central control module  302  may advance the length of the splice, cut the splice, and instruct the diverter actuator control module  334  to discard the material surrounding the splice. After a splice, a predetermined length of the new weight material may be cut and weighed to determine the linear density of the new weight material. 
     Splices may be created with adhesives that have different material properties than the surrounding weight material. For example only, the splicing material may be adhesive tape. The adhesive tape may have a higher optical reflectivity than the surrounding weight material. This change in optical reflectivity may be sensed by the splice detection module  350  as a splice. 
     In another example, electrical properties of the adhesive tape, such as magnetic permeability, may be different than the surrounding weight material. Alternatively, the splicing material may not be detectable by itself; additional material is added to allow for detection. For example only, the splicing tape may be undetectable, so reflective tape is applied over the splice. 
     The operator input/output device  318  may allow the operator to repeat the previous cut. For example, this feature may be used when a piece of weight material is dropped or misplaced. The operator input/output device  318  may also allow an operator to manually cut a piece of weight material to a given length or having a given weight. This may be useful when integrating with balancing machines that do not output weights in a digital format. 
     When integrating a system according to the present disclosure with prior art lead balancing stations, a large number of bins may be present, each having a different size of lead weight. The operator input/output device  318  may allow the operator to cut a predetermined number of pieces of a certain weight to replace the lead weights in one bin with cut pieces of the continuous weight material. 
     The operator input/output device  318  may allow the user to enter an upper limit and a lower limit, to define a range of weights, as well as an increment. The central control module  302  can then cut a predetermined number of pieces of each increment of weight, from the lower limit to the upper limit. In various implementations, control may pause between each increment, so the cut pieces can be removed from a collection bin and placed in the correct bin previously occupied by the lead weights. The operator can then signal via the operator input/output device  318  to begin cutting the next increment. 
     In various implementations, the operator input/output device  318  may be separate from, or separable from, the control enclosure  270 . The control enclosure  270  may be separate from the cutting apparatus  106 , the dispensing apparatus  104 , and the operator input/output device  318 . The control enclosure  270  may then be placed at any convenient location. Being separate, the operator input/output device  318  may be placed so as to best be accessible to the operator. By separating components, shipping, packaging, service, and replacement may be made easier and more cost-effective. 
     Referring now to  FIG. 4A-4D , various views of an example implementation of the dispensing apparatus  104  are presented. Weight material may be purchased and stored on the spool  110 . The spool  110  is loaded into the dispensing apparatus  104  by opening first and second doors  408  and  412 . The first and second doors  408  and  412  protect the operator from moving parts and may prevent debris from entering the dispensing apparatus  104 . 
     The spool  110  has first and second ends  414  and  416  whose diameters are larger than the diameter of a center portion  418  of the spool  110 . The first and second ends  414  and  416  ride on first and second axles  420  and  422 . Each of the axles  420  and  422  may have a flanged roller, which correspond to the first and second ends  414  and  416 . The flange of the flanged rollers prevents the spool  110  from moving in an axial direction along the axles  420  and  422 . 
     In various implementations, a second spool (not shown) may be stored in the dispensing apparatus  104 . The second spool may be located directed above the spool  110 . The second spool may be stored in the dispensing apparatus  104  simply to be located conveniently. However, in various implementations, the dispensing apparatus  104  may include machinery that, once the spool  110  is removed, guides the second spool into the previous location of the spool  110 . In fact, the dispensing apparatus  104  may include automated machinery that automatically (or upon actuation of a button or other operator input) replaces the spool  110  with the second spool. 
     As shown in  FIGS. 4C-4D , the first and second axles  420  and  422  may be coupled via a chain or a belt. This causes the first and second axles  420  and  422  to rotate together. The first and second axles  420  and  422  may be driven by a motor  430  via another belt or chain. The motor  430  turns the first and second axles  420  and  422  in order to dispense more weight material from the spool  110 . 
     Weight material from the spool  110  passes through first, second, and third rollers  440 ,  442 , and  444 . The weight material then passes through a splicing apparatus  450 , which will be described in more detail below. In various implementations, the splicing apparatus  450  may be located in another position, such as on the exterior of the dispensing apparatus  104 . The splicing apparatus  450  may be portable, and may be handheld—when not in use, the splicing apparatus  450  may then be temporarily affixed to the dispensing apparatus  104 . The weight material then passes over a pulley  460 . The pulley  460  is driven by a motor  464 . The motor  464  turns the pulley  460  to provide the loop  120  of weight material. 
     The size of the loop  120  may be determined by operating requirements of the system and may be set to provide enough weight material so that a splice can be made while operation continues unabated using material from the loop  120 . An idle roller  468  applies pressure to the weight material to keep the weight material from slipping against the pulley  460 . Downforce is applied to the idle roller  468  by a downforce device  470 . For example only, the downforce device  470  may include a spring. Alternatively, the downforce device  470  may be fixed in place, creating a fixed gap between the idle roller  468  and the pulley  460 . 
     The dispensing apparatus  104  may include one or more sensors to determine the length of the loop  120 . For example, as shown in  FIGS. 4A and 4B , the dispensing apparatus  104  may include sensors  474 - 1 ,  474 - 2 , and  474 - 3 . If the length of the loop  120  decreases below a predetermined distance, operation of the cutting apparatus  106  may be halted to prevent the weight material from being pulled taught and slipping in the cutting apparatus  106 . 
     The motor  464  may drive the pulley  460  to establish a predetermined length of the loop  120 . When splicing is being performed, the motor  464  may fix the position of the pulley  460  to keep the strip  102  from moving and allow precise splicing. When splicing, the trailing end of the previous roll of weight material may be centered in the splicing apparatus  450 . The previous spool  110  can be removed and replaced with a new spool  110  containing a new roll of weight material. 
     The new weight material may be threaded through the rollers  440 ,  442 , and  444  so that the leading end of the new weight material butts up against the trailing end of the previous roll of weight material. The two ends are then joined. For example only, a length of adhesive tape may be present at the splicing apparatus  450 . In order to join the leading end of the new weight material to the trailing end of the previous weight material, the operator may apply the piece of tape to the ends and apply enough pressure to ensure adhesion. 
     In addition, splice indicia may be applied to the weight material. For example only, reflective tape may be applied to allow for detection of the splice. Alternatively, marks, paint, or other indicia may be applied to the weight material. Once the splice is completed, the motor  464  may drive the pulley  460  to reestablish the desired length of the loop  120 . The dispensing apparatus  104  may be designed to isolate access to the splicing apparatus  450  from access to the spool  110 . In this way, the splicing apparatus  450  can only be accessed once the spool  110  is loaded and associated safety doors are closed. Then, the splice can be performed without exposing the operator to the mechanics of the motor  430  and the first and second axles  420  and  422 . 
     For example only, during normal operation (when not splicing), the motor  464  may drive the pulley  460  such that a bottom of the loop  120  remains between the sensors  474 - 1  and  474 - 2 . In various implementations, the sensors  474 - 1 ,  474 - 2 , and  474 - 3  may be photoelectric sensors. The sensors  474 - 1 ,  474 - 2 , and  474 - 3  may be diffuse sensors, which include both a light emitter and a detector, eliminating the need for separate light emitters or detectors on an opposite side of the loop  120 . 
     When a splice is desired, the motor  464  may drive the pulley  460  to lower the bottom of the loop  120  to the sensor  474 - 3 . In various implementations, once the bottom of the loop  120  reaches the sensor  474 - 3 , the motor  464  may drive the pulley  460  a predetermined further amount, to lower the bottom of the loop  120  a predetermined distance below the sensor  474 - 3 . 
     Alternatively, for splicing, the motor  464  may drive the pulley  460  until a trailing end of the weight material is located at a predetermined location (such as the middle) of the splicing apparatus  450 . However, even if the trailing end has not yet reached the predetermined location of the splicing apparatus  450 , the motor  464  may halt movement of the pulley  460  once the bottom of the loop  120  reaches the sensor  474 - 3 , or at a predetermined distance thereafter. Once the bottom of the loop rises above the sensor  474 - 3 , the motor  464  may once again actuate the pulley  460  to attempt to bring the trailing end of the weight material to the predetermined location of the splicing apparatus  450 . Once splicing is complete, the motor  464  may resume controlling the bottom of the loop  120  to be between the sensors  474 - 1  and  474 - 2 . 
     The motor  430  drives the first and second axles  420  and  422  in order to provide slack material from the spool  110 . In this way, the frictional force required between the weight material and the pulley  460  is reduced. The spool  110  may be installed in such a way that a bottom loop  480  is created below the spool  110 . A dancer switch  484  detects the height of the bottom loop  480 . 
     The dancer switch  484  includes a rod  488  arranged in a direction perpendicular to the plane of  FIG. 4D . The rod rides along the inside of the bottom loop  480 . The dancer switch  484  pivots about a pivot point  490 . As the bottom loop  480  moves up, indicating less slack is available, the dancer switch  484  pivots about the pivot point  490 . A sensor  494  across the pivot point  490  from the rod  488  detects this condition and instructs the motor  430  to rotate the first and second axles  420  and  422  to provide more slack material. 
     Referring now to  FIG. 5 , an isometric view of an example implementation of the splicing apparatus  450  is presented. First and second clamps  502  and  504  are mounted to a base plate  508 . The first clamp  502  clamps the trailing end of the old weight material between a first shoe  510  and the base plate  508 . The second clamp  504  clamps the leading end of the new roll of weight material between a second shoe  512  and the base plate  508 . Adhesive tape (and, optionally, splice indicia, such as reflective tape) may be applied manually by an operator or by a mechanical apparatus. Once the splice has been accomplished, the first and second clamps  502  and  504  are released. 
     Referring now to  FIG. 6 , a block diagram of an example wheel balancing system  600  is presented. A feeder  604  provides a wheel to a balancer  608 . For example only, the feeder  604  may include a conveyor system or another suitable system for providing the wheel to the balancer  608 .  FIGS. 7A and 7B  include views of an example wheel  704  with a tire  708  mounted on the wheel  704 . When the wheel  704  is mounted on a car, one side of the wheel will be facing in toward the middle of the car and the other side will be facing out away from the car. The side facing in is referred to here as the carside and the side facing out is referred to as the curbside. 
       FIG. 7A  includes an example perspective view from the carside of the wheel  704  and the tire  708 .  FIG. 7B  includes an axial, cross-sectional view of the wheel  704  and tire  708  with the carside of the wheel  704  down. Referring now to  FIGS. 7A and 7B , the wheel  704  includes a mounting surface  712  where the wheel  704  mates with a rotating portion of a vehicle (e.g., a rotor or hub) if the wheel  704  is mounted to a vehicle. The mounting surface  712  may include one or more apertures  716  through which a mounting stud of the vehicle or a lug bolt may extend. A plane that is flush with the mounting surface  712  is referred to as a mounting plane  714 . 
     The inner surface of wheel  704  may have one or more predetermined surfaces where the weight material can be attached to the wheel  704 . For example only, the wheel  704  may include two predetermined surfaces, such as first and second predetermined surfaces  718  and  720 , where the weight material can be attached to the inner surface of the wheel  704 . The example of  FIG. 7B  shows pieces of weight material attached to the wheel  704  within the first and second predetermined surfaces  718  and  720 . 
     Each of the predetermined surfaces can be thought of as defining a cylinder or a conical frustum. A conical frustum is a cone with the top sliced off parallel to the base, and can look like a tapered cylinder. Each of the predetermined surfaces can be referred to as a plane. For example only, the cylindrical or frustum shaped portion of the interior surface of the wheel  704  defined by the first predetermined surface  718  will hereafter be referred to as the midplane of the wheel  704 . The cylindrical or frustum shaped portion of the interior surface of the wheel  704  defined by the second predetermined surface  720  will hereafter be referred to as the lowerplane of the wheel  704 . The width of the strip  102  of the weight material may be selected such that the width of the strip  102  is less than or equal to the narrower one of the midplane  718  and the lowerplane  720 . In various implementations, the width of the midplane  718  and the lowerplane  720  may be equal. 
     The midplane  718  and the lowerplane  720  are each defined by two parallel planes. For example only, the midplane  718  is defined by an inner (or carside) plane  717  and an outer (or curbside) plane  719 . The lowerplane  720  may be defined by an inner plane  721  and an outer plane  723 . A distance between the mounting plane  714  and an inner plane in a direction parallel to a rotational axis  722  of the wheel  704  can be referred to as the offset of the associated plane. For example only, a distance  724  between the mounting plane  714  and the inner plane  717  of the midplane  718  will be referred to as a first offset. A distance  728  between the mounting plane  714  and the inner plane  721  of the lowerplane  720  will be referred to as a second offset. 
     A radial distance between the axis  722  and an inner plane in a radial direction from the axis  722  will be referred to as a radius. For example only, a distance  732  between the axis  722  and the inner plane  717  of the midplane  718  will be referred to as a first radius. A distance  736  between the axis  722  and the inner plane  721  of the lowerplane  720  will be referred to as a second radius. 
     Referring back to  FIG. 6 , the balancer  608  spins the wheel in a predetermined manner to determine how to balance the wheel both side-to-side (i.e., curbside to carside) and rotationally. Based on predetermined characteristics of the wheel and measurements taken during the spinning, the balancer  608  generates balancing data for the wheel. The balancer  608  may also apply visual markers to the wheel where balancing weights should be applied. 
     For example only, the balancing data includes first and second desired weights  610 . The first and second desired weights  610  indicate how much of the weight material to apply within the midplane and the lowerplane, respectively, of the wheel. A dispense and cut system (DCS)  612  determines a desired length of a first piece of the weight material based on the first desired weight. The DCS  612  also determines a desired length of a second piece of the weight material based on the second desired weight. 
     A robotic arm moves an end of arm tool (EOAT), collectively illustrated in  FIG. 6  by  616 , to receive the first and second pieces of the weight material  614  and may assist the DCS  612  in cutting the pieces  614  of the weight material. In various implementations, the robotic arm is capable of compound, multi-axial movement. The EOAT is attached to a distal end of the arm. 
     The balancing data also includes first and second angles, the first and second offsets, and the first and second radii (or radiuses)  620 . The first angle indicates an angle, measured relative to a reference angle, at which a midpoint of the first piece of the weight material should be applied within the midplane. The second angle indicates an angle, measured relative to the reference angle, at which a midpoint of the second piece of the weight material should be applied within the lowerplane. For example only, the reference angle may be at a 12:00 position of the wheel, an angle at which the valve stem opening is present, or another suitable reference angle. 
     A crowder  624  centers the wheel about a reference axis. For example only, the crowder  624  may include a four-post crowding mechanism where the four posts are drawn towards the reference axis to center the wheel about the reference axis while minimizing rotation of the wheel. The first and second pieces of the weight material may be applied at a weight application station  628 . In various implementations, the crowder  624  may be implemented separately from the weight application station  628 . Once the wheel is centered by the crowder  624 , the robotic arm and EOAT  616  selectively moves to apply the last cut ends of the first and second pieces of the weight material within the midplane and the lowerplane beginning at the first and second desired angles, respectively. In this manner, the wheel is balanced. 
     Referring now to  FIGS. 8A and 8B , a side view  804  and a front view  808 , respectively, of an example implementation of the arm with the EOAT  616 , the weight application station  628 , and the crowder  624  are presented. In various implementations, the wheel may be provided to a weight application station via a conveyer system  812  or in another suitable manner. For example only, the wheel may be provided to the weight application station with the carside of the wheel facing down on the conveyer. An opening  816  in the conveyer system  812  may be provided at the weight application station through which the arm and EOAT  616  may access the interior of the wheel from below the conveyer system  812 . In various implementations, the wheel may be provided to the weight application station with the curb side of the wheel down on the conveyer system  812 , and the arm and EOAT  616  may access the interior surfaces of the wheel from above. 
       FIGS. 9A-9D  include various isometric views of an example implementation of the cutting apparatus  106  of the DCS  612 . The cutting apparatus  106  of the present application may include a backing material removal system.  FIGS. 9E-9H  include various isometric views of an example implementation of a backing removal system  910 . Referring to  FIGS. 9A-9H , in various implementations, the strip may be provided to the cutting apparatus  106  with the backing  904  facing up and with the weight material  908  facing down. In this manner, the adhesive side of the strip faces up. 
     For example only, the backing material removal system  910  may include a removal roller  912  and a tensioner roller system  916 . A leading edge  920  of the backing  904  may be peeled away from the weight material  908  (e.g., by an operator initially). The leading edge  920  of the backing  904  may be provided to a driven roller assembly  911  via an idle roller  913  and a weighted roller assembly  914 . 
     A biasing mechanism  915  (e.g., a spring) biases a driven roller  917  of the driven roller assembly  911  toward an idle roller  918 . The driven roller  917  holds the backing  904  in place when the driven roller  917  is not being driven. The driven roller  917  may be driven in tandem with the drive roller  130 . In various implementations, the driven roller  917  may be driven independently of the drive roller  130 . 
     For example only, the driven roller  917  may be driven when the weighted roller assembly  914  reaches a predetermined position as indicated by a position sensor assembly  919 . In the example embodiment, the weighted roller assembly  914  is implemented in a key-hole arrangement where the weighted roller assembly  914  moves up and down within a guide  921 . In various implementations, other types of arrangements may be used, such as an arrangement involving Thompson shafts, THK rails, or another suitable arrangement. 
     Because the driven roller  917  holds the backing  904  in place when the driven roller  917  is not being driven, the weighted roller assembly  914  may slide down the guide  921  toward the predetermined position as the weight material  908  is dispensed past the removal roller  912 . The position sensor assembly  919  may include a position sensor and a stop. The position sensor monitors the position of the weighted roller assembly  914  within the guide  921 . 
     When the position of the weighted roller assembly  914  reaches the predetermined position, the driven roller  917  may be driven. In various implementations, the driven roller  917  may be driven a predetermined amount (e.g., angle). The predetermined amount may be set to lift the weighted roller assembly  914  to a second predetermined position. In other implementations, the driven roller assembly  917  may be driven until the position sensor assembly  919  indicates that the weighted roller assembly  914  is in the second predetermined position. When the weighted roller assembly  914  is between the first and second predetermined positions, the weighted roller assembly  914  and the driven roller  917  maintain tension on the backing  904  such that the backing  904  is removed from the weight material  908  as the weight material  908  is dispensed past the removal roller  912 . If rolls of the strip  102  are spliced together, the splice may splice the backing  904  so the backing material removal system will continue to remove the backing  904  even after a splice in the strip  102 . 
     Referring now to  FIGS. 10A-10H , various isometric views of the cutting apparatus  106  are shown. As stated above, the slit  212  may be implemented in the cutting apparatus  106  below the blade  210  in various implementations. For purposes of the present disclosure, however, the cutting apparatus  106  includes only a cutting apparatus edge  924  of a slit. A leading edge of the EOAT, as discussed further below, will provide a dispense edge of the slit. The blade  210  passes through this slit to cut the weight material. 
     A deck  928  of the cutting apparatus  106  may be tapered inward toward the drive roller  130  from the cutting apparatus edge  924  of the slit. The tapered face of the deck  928  is illustrated at  932 . The tapered face  932  may enable the leading edge of the EOAT to be moved into a cutting position from behind the blade  210 . 
     The cutting apparatus  106  includes an arm  1004  with an EOAT that is generally illustrated by  1008 . The EOAT  1008  includes a first wet out tool  1012  and a second wet out tool  1016 . The EOAT  1008  may also be referred to as an end effector. A wet out tool may also be referred to as a wet out shoe. 
     The first wet out tool  1012  includes a leading edge  1020  of an arc shaped face  1024  and a trailing edge  1028  of the arc shaped face  1024 . The second wet out tool  1016  includes a leading edge  1032  of an arc shaped face  1036  and a trailing edge  1040  of the arc shaped face  1036 . 
     When the EOAT  1008  is away from the cutting position, the cutting apparatus  106  may dispense a first piece  1044  of the weight material past the cutting apparatus edge  924  and the blade  210 . In various implementations, the cutting apparatus  106  may dispense the first piece  1044  of the weight material past the cutting apparatus edge  924  while the first wet out tool  1012  is in the cutting position or in a final cutting position. 
     The first piece  1044  includes a previously cut end  1048 . The weight material may curve in a downward direction, such as shown in the example illustration of  FIG. 10A , when dispensed past the cutting apparatus edge  924 . The downward curve may be attributable to, for example, gravity, a shape taken by the weight material from being stored on a roll, and/or one or more other forces. 
     As shown in  FIG. 10B , the leading edge  1020  of the first wet out tool  1012  may first be moved up to the cutting position. When in the cutting position, the slit is formed between the cutting apparatus edge  924  and the leading edge  1020  of the first wet out tool  1012 . A wet out tool may be said to be in the cutting position when a distance between a leading edge of the wet out tool and the cutting apparatus edge  924  is approximately equal to a predetermined distance. The predetermined distance may be only slightly wider than the thickness of the blade  210  such that the leading edge of the wet out tool and the cutting apparatus edge  924  provide support on both sides of the blade  210 . This prevents the weight material  908  from being pressed through the slit between the leading edge of the wet out tool and the cutting apparatus edge  924  by the blade  210 , especially as the blade  210  dulls. 
     Once the leading edge  1020  of the first wet out tool  1012  is in the cutting position, the arm  1004  may be actuated to rotate the first wet out tool  1012  upward about the leading edge  1020  to a final cutting position. Rotating the first wet out tool  1012  upward about the leading edge  1020  of the first wet out tool  1012  while the first piece  1044  is dispensed may cause the first piece  1044  to lay flatly on the arc shaped face  1024  of the first wet out tool  1012 . As stated above, in various implementations, the first piece  1044  may be dispensed after the first wet out tool  1012  is in the final cutting position. The first piece  1044  laying flatly on the arc shaped face  1024  of the first wet out tool  1012  when the first wet out tool  1012  is in the final cutting position is illustrated in  FIG. 10C . 
     Once the first wet out tool  1012  reaches the final cutting position, an in position signal may be provided to the central control module  302  of the cutting apparatus  106 . The central control module  302  may trigger cutting of the first piece  1044  via the cutter actuator control module  326  in response to receiving the in position signal. In this manner, first piece  1044  of the weight material having the desired weight is cut from the strip  102 . A newly cut end  1052  of the first piece  1044  is created by the cutting of the first piece  1044  that is located approximately at the leading edge  1020  of the first wet out tool  1012 . 
     The EOAT  1008  can then be moved away from the final cutting position. For example only, the EOAT  1008  can be moved to position the leading edge  1032  of the second wet out tool  1016  underneath the cutting position.  FIG. 10D  includes an example illustration of the leading edge  1032  of the second wet out tool  1016  being positioned underneath the cutting position. 
     When the EOAT  1008  is away from the cutting position, a second piece  1056  of the weight material can be dispensed. Like the first piece  1044 , as discussed above, the second piece  1056  can be dispensed once the second wet out tool  1016  is in the final cutting position. The second piece  1056  also includes a previously cut end  1060 . The cutting of the first piece  1044  may create the previously cut end  1060  of the second piece  1056 .  FIG. 10E  includes an example illustration of the second piece  1056  of the weight material dispensed. 
     As shown in  FIG. 10F , the leading edge  1032  of the second wet out tool  1016  may next be moved up to the cutting position. When in the cutting position, the slit is formed between the cutting apparatus edge  924  and the leading edge  1032  of the second wet out tool  1016 . Once the leading edge  1032  of the second wet out tool  1016  is in the cutting position, the arm  1004  may be actuated to rotate the second wet out tool  1016  upward about the leading edge  1032  to the final cutting position. Rotating the second wet out tool  1016  upward about the leading edge  1032  of the second wet out tool  1016  while the second piece  1056  is dispensed may cause the second piece  1056  to lay flatly on the arc shaped face  1036  of the second wet out tool  1016 .  FIG. 10G  illustrates the second piece  1056  laying flatly on the arc shaped face  1036  of the second wet out tool  1016  when the second wet out tool  1016  is in the final cutting position. 
     Once the second wet out tool  1016  reaches the final cutting position, a second in position signal may be provided to the central control module  302  of the cutting apparatus  106 . The central control module  302  may trigger cutting of the second piece  1056  via the cutter actuator control module  326  in response to receiving the second in position signal. In this manner, the second piece  1056  of the weight material having the desired weight is cut from the strip  102 . A newly cut end  1064  of the second piece  1056  is created by the cutting of the second piece  1056  that is located approximately at the leading edge  1032  of the second wet out tool  1016 . The first and second pieces  1044  and  1056  can then be moved away from the cutting apparatus  106  via the EOAT  1008  for application to the wheel as shown in the example illustration of  FIG. 10H . 
     Alternatively, the first and second wet out tools  1012  and  1016  may be moved to the final cutting positions prior to the weight material being dispensed onto the first and second wet out tools  1012  and  1016 . In such implementations,  FIGS. 10A, 10B ,  10 E, and  10 F would not apply. This alternative approach can be used when the weight material is stiff enough that the weight material can be pushed onto the first and second wet out tools  1012  and  1016  without bunching up. 
       FIGS. 11A-11G  include various example views of the first and second wet out tools  1012  and  1016 . While the first wet out tool  1012  is shown and will be discussed in conjunction with  FIGS. 11A-11C and 11G , the discussion may be applicable to the second wet out tool  1016 . Further, while the second wet out tool  1016  is shown and will be discussed in conjunction with  FIGS. 11D-11F , the discussion may be applicable to the first wet out tool  1012 . 
     Referring now to  FIGS. 11A-11C , the first wet out tool  1012  may be made of a urethane or another suitable material that provides a suitable amount of elasticity. The suitable amount of elasticity may enable the first wet out tool  1012  to deform by at least a predetermined amount (e.g., 4 degrees) to accommodate a maximum possible change in the radius of the wheel present between the inner and outer planes of the midplane of the wheel. In various implementations, the first wet out tool  1012  may be made of another suitable material that is less elastic than urethane, and one or more flexible members (e.g., springs) may be provided with the first wet out tool  1012  to enable the first wet out tool  1012  to accommodate the maximum possible change in the wheel radius (see  FIG. 11G ). 
     The arc shape (e.g., the radius of the arc) of the arc shaped face  1024  of the first wet out tool  1012  may be selected, for example, to accommodate a smallest possible wheel diameter, such as a 12 inch wheel diameter. In various implementations, the leading edge  1020  of the first wet out tool  1012  may be defined by a metal edge structure (not shown) formed on top of or embedded within the urethane of the first wet out tool  1012 . The metal edge structure may provide a suitably rigid surface against which the weight material can be cut and that can be used to form the slit with the cutting apparatus edge  924 . 
     The first wet out tool  1012  may also include first and second side faces  1104  and  1108 . The arc shaped face  1024  may be defined by the leading and trailing edges  1020  and  1028  of the first wet out tool  1012  and by the first and second faces  1104  and  1108 . The first and second faces  1104  and  1108  may extend past the arc shaped face  1024  to create first and second flanges  1112  and  1116 , respectively, of the first wet out tool  1012 . The first and second flanges  1112  and  1116  prevent lateral movement of weight material on the first wet out tool  1012 . In various implementations, one or both of the first and second flanges  1112  and  1116  may be omitted. 
     The width of the arc shaped face  1024  (e.g., between the first and second flanges  1112  and  1116 ) may be chosen based upon the width of the strip  102 . For example only, the width of the arc shaped face  1024  between the first and second flanges  1112  and  1116  may be slightly (e.g., a predetermined amount) larger than the width of the strip  102 . The distance between the first and second flanges  1112  and  1116  being only slightly larger than the width of the strip  102  may provide lateral support for the first piece  1044  of the weight material. 
     The height of the first and second flanges  1112  and  1116  above the arc shaped face  1024  may be selected based upon the height of the strip  102 . For example only, the height of the first and second flanges  1112  and  1116  above the arc shaped face  1024  may be (e.g., a predetermined amount) less than the height of the strip  102 . Fast movement of the arm  1004  may be performed in a direction that is perpendicular to the first and second flanges  1112  and  1116  to prevent a piece of material from slipping off of the arc shaped face  1024  during the movement. 
     The first wet out tool  1012  includes one or more magnetic devices, such as magnetic devices  1130 - 1 ,  1130 - 2 , . . . ,  1130 -N (collectively referred to as magnetic devices  1130 ). The magnetic devices  1130  may help attract ferrous material present in the weight material toward the arc shaped face  1024  of the first wet out tool  1012 . In various other implementations, vacuum and/or grippers may additionally or alternatively be used. 
     The magnetic devices  1130  may be natural magnets, such as rare earth magnets, or another suitable form of magnetic device, such as electromagnets. For example only, the magnetic devices  1130  may include neodymium. The magnetic devices  1130  may create a magnetic field on the arc shaped face  1024  of the first wet out tool  1012 . The force of the magnetic field may be sufficient to hold the first piece  1044  stationary on the arc shaped face  1024  of the first wet out tool  1012  during movement of the EOAT  1008 . In various implementations, a spacing between the magnetic devices  1130  and/or the characteristics of the magnetic devices  1130  may be chosen to create a desired magnetic field on the arc shaped face  1024  of the first wet out tool  1012 . The magnetic force generated by the magnetic devices  1130  is less than the adhesive force holding the first piece  1044  against the wheel when the first piece  1044  is applied to the wheel. In this manner, the magnetic force will be overcome by the adhesive force, and the first piece  1044  will be peeled off of the first wet out tool  1012  as the first piece  1044  is applied (wet out) along the inner surface of the wheel. 
     One or more apertures may be formed in the first wet out tool  1012  for one or more material presence sensors, such as material presence sensor  1144 . While only the material presence sensor  1144  is shown, the first wet out tool  1012  may include one or more additional material presence sensors. The apertures may completely extend through the first wet out tool  1012  or may extend partially through the first wet out tool  1012 . The material presence sensors may include, for example, fiber optic sensors that generate signals based on proximity of a surface to the fiber optic sensor. For another example only, the material presence detection sensors may be diffuse type photo-electric sensors. The signals output by the material presence sensors can be used to determine whether weight material is present on the arc shaped face  1024  of the first wet out tool  1012 . For example only, the signals output by one or more of the material presence sensors may be used after the first wet out tool  1012  has been moved away from the cutting position to ensure that the first piece  1044  has been deposited on the first wet out tool  1012  and cut. 
     Referring now to  FIGS. 11D-11F , isometric illustrations of the first and second wet out tools  1012  and  1016  are presented. An actuating system  1160  may be included with the second wet out tool  1016 . The actuating system  1160  may include one or more linear actuators, such as actuator  1164 . The actuator  1164  can be actuated to extend and retract the second wet out tool  1016 . For example only, the actuator  1164  may be hydraulically actuated, electrically actuated, or actuated in another suitable manner. 
     Extension and/or retraction of a wet out tool may be performed to allow pieces of the weight material to be applied individually. For example only, the second wet out tool  1016  may be maintained in a predetermined initial position such that the second piece  1056  of the weight material is not applied while the first piece  1044  of the weight material is being applied. An example of the second wet out tool  1016  in a predetermined initial position is presented in the example of  FIG. 11D . 
     To apply the second piece  1056 , the second wet out tool  1016  may be extended past the first wet out tool  1012 . For example only, the actuating system  1160  may extend the second wet out tool  1016  past the first wet out tool  1012  by a predetermined distance. The predetermined distance may be based on a greatest possible change in the radius over the distance between the inner plane of the midplane and the inner plane of the lowerplane. Extending the second wet out tool  1016  past the first wet out tool  1012  allows the second piece  1056  to be applied independently of the first piece  1044 , which may or may not still be present on the first wet out tool  1012 . An example of the second wet out tool  1016  extended past the first wet out tool  1012  is presented in the example of  FIG. 11E . 
     In various implementations, the actuating system  1160  or another actuating system may be included with the first wet out tool  1012 . The actuating system  1160  may include one or more additional linear actuators, such as actuator  1168  and actuator  1172 . The actuator  1168  may extend and retract the first wet out tool  1012  relative the second wet out tool  1016 . The actuator  1172  may actuate to change the spacing between the first and second wet out tools  1012  and  1016 . An example illustration of the actuator  1172  extended to change the spacing between the first and second wet out tools  1012  and  1016  is presented in the example of  FIG. 11F . The spacing between the first and second wet out tools  1012  and  1016  may be changed, for example, in situations where the EOAT may come into contact with the mounting surface of a wheel in during an attempt to align the first wet out tool  1012  with the curbside plane of the wheel. 
     Referring now to  FIG. 11G , an example cross-sectional illustration of the first wet out tool  1012  is presented. As stated above, the first wet out tool  1012  may be made of a urethane or another suitable material that provides a suitable amount of elasticity. In various implementations, such as the example of  FIG. 11G , flexible structures may provide additional compliance. In such implementations, the first wet out tool  1012  may be made of another suitable material that is less elastic than urethane. One or more flexible members (e.g., coil springs) may be provided with the first wet out tool  1012  to enable the first wet out tool  1012  to accommodate the maximum possible change in the wheel radius. 
     The first wet out tool  1012  may be secured to arm and EOAT  616  via a securing assembly  1176 . For example only, the securing assembly  1176  may include a fastener  1178  (e.g., a threaded bolt), a sleeve  1180 , a bushing  1182 , and a compressible washer  1184 . An inner portion of the sleeve  1180  may be tapered radially inwardly toward the fastener  1178  from ends of the sleeve  1180 . For example only, a cross-section of the sleeve  1180  may have a butterfly shape as illustrated in the example of  FIG. 11G . The bushing  1182  is implemented concentrically within the sleeve  1180 . The fastener  1178  extends through a lateral face  1186  of the first wet out tool  1012 , the bushing  1182 , and a lateral face  1188  of the EOAT to secure the first wet out tool  1012  to the EOAT. For example only, the sleeve  1180  and the bushing  1182  may include copper. 
     First and second resilient members  1190  and  1192  are located radially outwardly from the fastener  1178 . The first and second resilient members  1190  and  1192  apply a biasing force against the lateral wall  1186  of the first wet out tool  1012 . For example only, the first and second resilient members  1190  and  1192  may each include a ball  1194 , a ball stop  1196 , and a biasing source  1198 . The biasing source  1198  may bias the ball  1194  against the ball stop  1196  where the ball  1194  will generally be in contact with the lateral wall  1186  of the first wet out tool  1012 . For example only, the biasing source  1198  may include a spring, air, a hydraulic fluid, or another suitable biasing member. 
     When the front face  1024  of the first wet out tool  1012  contacts the inner surface of a wheel where the wheel radius is changing, the first and second resilient members  1190  and  1192  allow the first wet out tool  1012  to pivot to accommodate the changing wheel radius. More specifically, a changing wheel radius may force the first wet out tool  1012  to pivot and apply a force that is greater than the biasing force to one of the balls  1194 . For example only, the first wet out tool  1012  may pivot in a first direction  1197  and apply a force to the ball  1194  of the second resilient member  1192 . The first wet out tool may pivot in a second direction  1198  and apply a force to the ball  1194  of the first resilient member  1190 . The application of a force to one of the balls  1194  forces the one of the balls  1194  away from the associated one of the ball stops  1196 , thereby allowing the first wet out tool  1012  to pivot. The tapered/butterfly shape of the sleeve  1180  allows the bushing  1182  to pivot within the sleeve  1180 . 
     Referring now to  FIG. 12 , a flowchart depicting an example method  1200  of balancing a wheel is presented. Control begins at  1204 , where control receives balancing data. For example only, the balancing data includes the first and second offsets, the first and second radii, the first and second angles, and the first and second desired weights. The balancing data may also include the lengths of the first and second pieces. 
     While not shown, control may determine whether either of the first and second pieces need to be applied based on the balancing data. If neither piece needs to be applied, such as if the weights are zero or are below a minimum threshold, control may return to  1204  and wait for the balancing data of the next wheel to arrive. If only the second piece needs to be applied, control may transfer to  1224 . Otherwise, control continues at  1208 . 
     At  1208 , the cutting apparatus  106  dispenses the first piece  1044  of the weight material past the cutting apparatus edge  924 . The first piece  1044  of the weight material corresponds to the desired weight to be applied within the midplane of the wheel, with the midpoint of the first piece  1044  being located at the first angle. The first piece  1044  is dispensed while the first wet out tool  1012  is away from the cutting position. If the first piece  1044  was dispensed while the first wet out tool  1012  was in the cutting position or the final cutting position, the magnetic force of the magnetic devices  1130  may cause the first piece  1044  to lay undesirably upon the arc shaped face  1024  of the first wet out tool  1012 . For example only, the first piece  1044  may not lay flatly upon the arc shaped face  1024 . 
     At  1212 , control moves the first wet out tool  1012  into the final cutting position. For example only, the leading edge  1024  of the first wet out tool  1012  may first be moved to the cutting position at the predetermined distance away from the cutting apparatus edge  924 . Second, control may rotate the first wet out tool  1012  about the leading edge  1024  to position the first wet out tool  1012  in the final cutting position. Moving the first wet out tool  1012  into the final cutting position in this manner may allow the first piece  1044  of the weight material to be drawn towards the magnetic devices  1130  of the first wet out tool such that the first piece  1044  lays flatly along the arc shaped face  1024  of the first wet out tool  1012  between the first and second flanges  1112  and  1116 . 
     Alternatively, the first wet out tool  1012  could be moved into position prior to the first piece  1044  of the weight material being dispensed. If the weight material has adequate rigidity, the first piece  1044  may slide along the face  1024  of the first wet out tool  1012 , without arching (i.e., creating a gap between the first piece  1044  and the face  1024  of the first wet out tool  1012 ). This approach may require less time, as the first wet out tool  1012  can be moved directly to the dispense location instead of being moved and then rotated into place. 
     At  1216 , the cutting apparatus  106  cuts the first piece  1044  from the strip  102 . More specifically, the blade  210  is lowered to cut the first piece  1044  using the slit that is defined by the cutting apparatus edge  924  and the leading edge  1024  of the first wet out tool  1012 . The EOAT  1008  may be moved away from the cutting position so the second piece  1056  can be dispensed at  1220 . 
     While not shown, control may determine the second piece is to be applied based on the balancing data. If true, control may proceed with  1224 ; if false, control may proceed to  1236 , which is discussed further below. The second piece  1056  of the weight material is dispensed past the cutting apparatus edge  924  at  1224 . At  1228 , the second wet out tool  1016  is moved into the final cutting position. For example only, the leading edge  1032  of the second wet out tool  1016  may first be moved to the cutting position at the predetermined distance away from the cutting apparatus edge  924 . Second, control may rotate the second wet out tool  1016  about the leading edge  1032  to position the second wet out tool  1016  in the final cutting position. The second wet out tool  1016  may be moved in a path that is similar or identical to the path taken in moving the first wet out tool  1012  into the final cutting position. Alternatively, the second wet out tool  1016  may be moved to the final cutting position prior to dispensing of the second piece  1056  of wheel weight material. 
     The second piece  1056  is cut using the slit defined by the cutting apparatus edge  924  and the leading edge  1032  of the second wet out tool  1016  at  1232 . At  1236 , control may determine a path to take in applying the first and/or second pieces  1044  and  1056 . Control may determine the path based on the first and second offsets, the first and second angles, and the first and second radii. Control may determine the path further based on the reference angle, the mounting plane, the reference axis, and/or one or more other suitable parameters. 
     At  1240 , control actuates the arm  1004  based on the path to position the leading edge  1020  of the first wet out tool  1012  at a first desired angle and to position the arc shaped face  1024  of the first wet out tool  1012  within the midplane of the wheel. The first desired angle corresponds to the angle at which the newly cut edge of the first piece  1044  should begin such that the midpoint of the first piece  1044  is applied at the first angle. While not shown, control may determine whether the first piece is present on the first wet out tool  1012 . If true, control may proceed with  1244 ; if false, control may proceed to  1248 , which is discussed further below. 
     Control actuates the arm  1004  to apply the first piece  1044  in a rolling motion, from the leading edge  1020  toward the trailing edge  1028  at  1244 . Applying a piece in the rolling motion may be referred to as wetting out the piece. Wetting out may be defined as applying the piece such that the adhesive on the piece flows to create a maximum contact area between the adhesive and the bonding surface, thereby maximizing the attractive forces between the adhesive and the bonding surface. Control actuates the arm  1004  to apply the first piece  1044  at a predetermined pressure at  1244 . For example only, the predetermined pressure may be approximately 15 pounds per square inch (PSI). 
     By applying the first piece  1044  in the rolling motion, the partial circle (i.e., arc) shape of the arc shaped face  1024  ensures that the adhesive surface of the first piece  1044  contacts the wheel as much as possible. The rolling motion may be from the leading edge  1020  to the trailing edge  1028  or from the leading edge  1020  to a point on the arc shaped face  1024  between the leading and trailing edges  1020  and  1028 . For example only, the point may be a point on the arc shaped face  1024  between the trailing edge  1028  and the previously cut end  1048  of the first piece  1044 . 
     While not shown, control may determine whether the second piece is present on the second wet out tool  1016 . If true, control may proceed with  1248 ; if false, control may end and start over when balancing data is received for a next wheel. 
     Control extends the second wet out tool at  1248  to accommodate the maximum possible change in the radius of the wheel. Control extends the second wet out tool  1016  past the first wet out tool  1012 . After the first piece  1044  is applied to the wheel, control may move the EOAT  1008  including the first and second wet out tools  1012  and  1016  away from the interior surface of the wheel before extending the second wet out tool  1016  as to not inadvertently apply the second piece  1056  of the weight material. 
     Control actuates the arm  1004  based on the path to position the leading edge  1032  of the second wet out tool  1016  at a second desired angle and to position the arc shaped face  1036  of the second wet out tool  1016  within with the lowerplane of the wheel at  1252 . The second desired angle corresponds to the angle at which the newly cut edge of the second piece  1056  should begin such that the midpoint of the second piece  1056  is applied at the second angle. Control actuates the arm  1004  to apply the second piece  1056  in the rolling motion, from the leading edge  1036  toward the trailing edge  1040  at  1256 . Control actuates the arm  1004  to apply the second piece  1056  at the predetermined pressure. Control may then end. 
     Referring now to  FIG. 13 , a functional block diagram of an example control system  1300  of the arm  1004  and the EOAT  1008  is presented. A central control module  1304  may receive the balancing data for a wheel from a balancing data module  1308 . More specifically, the central control module  1304  may receive the first and second offsets, the first and second radii, and the first and second angles. The central control module  1304  may also receive the desired weights of the first and second pieces and/or the lengths of the first and second pieces. 
     The balancing data module  1308  may receive the first and second offsets, radii, and angles from the balancer  608 . For example only, the balancing data module  1308  may receive the balancing data over a serial interface, a parallel interface, a factory control network, a local area network, or a direct electrical interface. For example only, support and communication protocols may include Ethernet, data highway plus (DH plus), controller area network (CAN), and DeviceNet. In various implementations, the balancing data may be transferred to the balancing data module  1308  via another mechanism, such as by a conveyer control system, an upper-level system, a plant management system, and/or a data tracking system. 
     In various implementations, the balancing data module  1308  may include a conversion front end (not shown) and a reference interface, such as RS-232. The conversion front end converts an incoming interface to the reference interface. In this way, the conversion front end can be replaced when a new external interface is used, while retaining RS-232 for internal communication. In various implementations, the balancing data may be provided to the balancing data module  1308  via another suitable input source, such as a user. 
     A reference data module  1312  may provide the reference data to the central control module  1304 . The reference data may include, for example, the distance between the mounting plane and a plane upon which the wheel rests, the reference angle, the reference axis, and/or one or more other suitable pieces of reference data. The plane upon which the wheel rests may be referred to as a reference plane. 
     In various implementations, the reference data may be predetermined data. In various other implementations, one or more pieces of the reference data may be provided by another apparatus. For example only, the distance between the reference plane and the mounting plane of the wheel may be determined and provided to the reference data module  1312  by a mounting plane learning system, described below. 
     The reference data module  1312  may store data corresponding to each combination of wheel and tire that has been or is expected to be balanced. For a given combination of wheel and tire, the physical characteristics, such as wheel geometry and location of the mounting plane, should be fixed. The wheel geometry includes radii, offsets of planes (including midplane and lowerplane) from the mounting plane, and clearance for maneuvering the robotic arm. The wheel geometry may be determined from the wheel blueprints during installation and pre-programmed into the reference data module  1312 . As new wheel types are introduced, the reference data module  1312  can be updated with their characteristics. 
     The wheel geometry may be independent of the tire mounted to the wheel. However, one parameter that may change depending on selected tire, and even depending on level of inflation of the tire, is the absolute location of the mounting plane. When the wheel and tire combination is resting on a conveyor belt, the tire may lift the wheel higher than if the wheel alone were resting on the conveyor belt. Because generally all wheel geometry is referenced to the mounting plane, the position of the mounting plane should be determined so that balancing weights can be placed accurately. 
     Assuming that the robotic arm is mounted to a fixed position below the conveyor belt, the vertical position of the conveyor belt with respect to the robotic arm mount is fixed and can be pre-programmed. Then, if the vertical distance between the conveyor belt and the mounting plane can be determined, the absolute position of the mounting plane can be calculated. In various implementations, the amount that the tire lifts the wheel off the conveyor belt may be calculated or measured. Inflation pressure of tires may be standardized, and in some cases, variations in the inflation pressure may result in only negligible changes in how high the wheel is lifted. 
     Another approach, an example of which is described below in  FIG. 14 , involves physically measuring the height of the mounting plane, using either the robotic arm or a separate height measuring device. Once the height of the mounting plane is determined or measured for a given wheel and tire combination, that height can be stored, and relied on for each future balancing of that wheel and tired combination. In various implementations, the height may be checked at periodic intervals, such as after a predetermined number of wheels having been balanced, or after a predetermined period of time. 
     Referring now to  FIG. 14 , an isometric view of an example implementation of a mounting plane learning system  1400  is presented. A distance learning apparatus  1404  may be used in conjunction with and/or implemented with the arm  1004  and the EOAT  1008 . The distance learning apparatus  1404  may be used to determine the distance between a reference plane  1410  and the mounting plane  714 . 
     In various implementations, the distance learning apparatus  1404  may include a pressure switch and a plate implemented on the EOAT  1008 . The EOAT  1008  may be extended through the opening  816  with the pressure switch/plate parallel to the mounting surface  712 . When the pressure switch is actuated due to contact with the mounting surface  712  of the wheel, the distance between the reference plane  1410  and the mounting plane  714  may be determined. For example only, the distance between the reference plane  1410  and the mounting plane  714  may be determined based on a known location of the reference plane  1410  and how far the distance learning apparatus  1404  had moved past the reference plane  1410  when the pressure switch is actuated. 
     In various implementations, the distance learning apparatus  1404  may be implemented independently of the EOAT, such as on another robotic arm or simply on a piston. The piston may have to be a multi-stage nested piston to reach the mounting plate while still being able to retract below the surface of the conveyor belt. The distance learning apparatus  1404  may include one or more types of distance learning devices, such as a linear variable distance transducer (LVDT) that determines the distance between the reference plane  1410  and the mounting plane  714 . For example only, the LVDT may be calibrated based on a value of zero when the LVDT is at the reference plane  1410 . 
     The LVDT may extend through the opening  816 , past the reference plane  1410 , until the LVDT makes contact with the mounting surface  712 . When the LVDT contacts the mounting surface  712 , the distance between the reference plane  1410  and the mounting plane  714  may be determined based on how far the LVDT extended past the reference plane  1410 . In various implementations, the distance learning apparatus  1404  may include a linear quadrature encoder and/or an optical measuring system (e.g., a laser measuring system), and/or another suitable apparatus that determines the distance between the reference plane  1410  and the mounting plane  714 . 
     The distance learning apparatus  1404  may be actuated into the opening  816  through which the weight material is applied to the interior surface of the wheel or below the opening  816  when the arm  1004  and the EOAT  1008  are clear of the opening  816 . For example only, the distance learning apparatus  1404  may be used to determine the distance while the first and second pieces  1044  and  1056  are being cut. 
     The distance learning apparatus  1404  may be employed to determine the distance between the reference plane  1410  and the mounting plane  714  selectively. For example only, the distance learning apparatus  1404  may be used to determine a value of the distance between the reference plane  1410  and the mounting plane  714  one or more times for a given type of wheel and tire combination. 
     The distance learning apparatus  1404  may thereafter be used periodically to verify and/or update the value of the distance while the same type of wheel is being balanced. Using the distance learning apparatus  1404  periodically when one type of wheel is being balanced may increase throughput (i.e., the number of wheels balanced per unit time) while still ensuring accurate placement of the wheel weight material. 
     In various implementations, the distance between the reference plane  1410  and the mounting plane  714  may be a predetermined distance. The predetermined distance may be set based on the distance between the carside plane  1414  of the wheel and the mounting plane  714 . The distance between the carside plane  1414  and the mounting plane  714  may be provided by, for example, a wheel manufacturer, the balancer  608 , or another suitable source of the characteristics of the wheel. 
     However, a tire mounted on the wheel may cause the carside plane  1414  of the wheel to sit above the reference plane  1410 . Bulging  1418  of the tire may cause the carside plane  1414  of the wheel to be different than the reference plane  1410 . Accordingly, if the predetermined distance is set to the distance between the carside plane  1414  and the mounting plane  714 , the predetermined distance may be inaccurate by an amount approximately equal to the height of the bulge  1418 . In some implementations, this amount may be negligible or may be mitigated by adjusting (i.e., increasing) the predetermined distance by a predetermined amount. The predetermined amount may be set based on half of the height of the bulge  1418  in various implementations. In various implementations, the height of the bulge  1418  may be estimated, previously determined or measured, estimated, etc. 
     Referring back to  FIG. 13 , a path determination module  1316  determines a path for receiving and cutting the first and second pieces  1044  and  1056  using the EOAT  1008 . An example path is described above in conjunction with  FIGS. 10A-10H . An arm actuator control module  1318  selectively controls movement of the arm  1004  based on the path. 
     A material detection module  1320  may indicate to the central control module  1304  when a piece of the weight material is present on a wet out tool. A cutter interfacing module  1324  may communicate with the central control module  302  to coordinate the operation of the cutting apparatus  106  with the operation of the arm  1004  and the EOAT  1008 . 
     For example only, the central control module  302  may wait for an EOAT clear signal from the cutter interfacing module  1324  before dispensing the first piece  1044  of the weight material for cutting. The central control module  1304  may generate the EOAT clear signal when the EOAT is away from the cutting apparatus edge  924  such that dispensed material will not contact or be drawn into contact with a wet out tool. The central control module  302  may transmit a first material dispensed signal to the central control module  1304  when the first piece of material has been dispensed for cutting. 
     After receiving the first material dispensed signal, the central control module  1304  may actuate the arm  1004  to follow the path determined by the path determination module  1316 . The path may include first bringing the leading edge  1024  of the first wet out tool  1012  into the cutting position and, second, rotating the first wet out tool  1012  up about the leading edge  1024  to position the first wet out tool  1012  in the final cutting position. In implementations where the magnetic devices  1130  are electromagnetic devices, a magnet control module  1328  may control the operation of the magnetic devices  1130 . For example only, the central control module  1304  may operate the magnetic devices  1130  after the first material dispensed signal is received. The central control module  1304  may selectively disable the magnetic devices  1130  after one or more of the first and second weights  1040  and  1056  have been applied. 
     The central control module  302  may wait to receive a cut signal from the cutter interfacing module  1324  before cutting the first piece  1044  from the strip  102 . The central control module  1304  may generate the cut signal once the first wet out tool  1012  is in the final cut position. The cutter apparatus  106  cuts the first piece  1044  of the weight material from the strip  102  in response to the cut signal. 
     After moving the EOAT  1008  away from the cutting apparatus edge  924 , the central control module  1304  may determine whether the first piece  1044  is present on the first wet out tool  1012 . For example only, the material detection module  1320  may indicate that the first piece  1044  is present on the first wet out tool  1012  when the presence of the first piece  1044  is detected based on the signals generated by the one or more presence detection sensors implemented with the first wet out tool  1012 . The first piece  1044  not being present after the EOAT  1044  has been moved away from the cutting apparatus edge  924  may indicate that the first piece  1044  slid off of the first wet out tool  1012 , that the first piece  1044  was not cut as expected, and/or that one or more other faults may be present. For example only, the first piece  1044  not being present may indicate that the blade  210  is dull and should be replaced. The cutting apparatus  106  and/or the central control module  1304  may take one or more remedial actions accordingly. 
     The central control module  1304  may (for a second time for the wheel) transmit the EOAT clear signal to the central control module  302  once the EOAT is moved away from the cutting apparatus edge  924 . The central control module  302  may dispense the second piece  1056  of the weight material for cutting when the EOAT clear signal is received. The central control module  302  may transmit a second material dispensed signal to the central control module  1304  once the second piece  1056  has been dispensed for cutting. 
     After the second material dispensed signal is received, the central control module  1304  may actuate the arm  1004  to follow the path determined by the path determination module  1316 . The path may include first bringing the leading edge  1032  of the second wet out tool  1016  into the cutting position and, second, rotating the second wet out tool  1016  up about the leading edge  1032  to position the second wet out tool  1016  in the final cutting position. 
     The central control module  302  may wait to receive the cut signal (for a second time for the wheel) from the cutter interfacing module  1324  before cutting the second piece  1056  from the strip  102 . The central control module  1304  may generate the cut signal when the second wet out tool  1016  is in the final cut position. The cutter apparatus  106  cuts the second piece  1056  of the weight material from the strip  102  in response to the cut signal. 
     After moving the EOAT  1008  away from the cutting apparatus edge  924  again, the central control module  1304  may determine whether the second piece  1056  is present on the second wet out tool  1016 . For example only, the material detection module  1320  may indicate that the second piece  1056  is present on the second wet out tool  1016  when the presence of the second piece  1056  is detected based on the signals generated by the one or more presence detection sensors implemented with the second wet out tool  1016 . 
     The path determination module  1316  also determines the path to follow in applying the first and second pieces  1044  and  1056  to the wheel. The path determination module  1316  may determine the path based on the first and second offsets, the first and second radii, and the first and second angles. The path determination module  1316  may determine the path further based on one or more pieces of the reference data and/or other suitable data. 
     The path may include first moving the EOAT  1008  to the reference axis. Once there, the arm actuator control module  1318  may position the leading edge  1020  of the first wet out tool  1012  at the first desired angle and position an edge of the arc shaped face  1024  at the first offset and the first radius within the midplane of the wheel. 
     A desired angle determination module  1318  may determine the first and second desired angles based on the reference angle, the first and second angles, the length of the first and second pieces, respectively, and/or other suitable data. For example only, the desired angle determination module  1318  may determine an angular distance within the midplane that corresponds to half of the length of the first piece. The desired angle determination module  1318  may set the first desired angle by adjusting the first angle toward the reference angle by the angular distance. Similarly, the desired angle determination module  1318  may determine the second desired angle based on an angular distance within the lowerplane corresponding to half of the length of the second piece and set the second desired angle by adjusting the second dangle toward the reference angle by the angular distance. 
     Before applying the first and/or second weights  1044  and  1056  (e.g., before positioning the EOAT  1008  within the wheel cavity), the central control module  1304  may wait for a crowder done signal from the crowder  624 . The central control module  1304  may communicate with the crowder  624  via a crowder interfacing module  1330 . The crowder  624  may transmit the crowder done signal to the central control module  1304  when the crowder  624  has centered the wheel about the reference axis and the crowder  624  is holding the wheel (and/or tire). 
     An EOAT actuator control module  1334  controls extension and retraction of the second wet out tool  1016 . Prior to the application of the first piece  1044 , the EOAT actuator control module  1334  may retract the second wet out tool  1056  to a predetermined initial position. When in the predetermined initial position, the second wet out tool  1016  may be retracted with respect to the first wet out tool  1012  or aligned with the first wet out tool  1012 . The retraction of the second wet out tool  1016  to the predetermined position may prevent the second piece  1056  from inadvertently being applied without being first correctly positioned. 
     The arm actuator control module  1318  applies the first piece  1044  starting at the leading edge  1020  of the first wet out tool  1012  (which is positioned at the first desired angle) and rolling the first wet out tool  1012  toward the trailing edge  1028  of the first wet out tool  1012 . The arm actuator control module  1318  applies the first piece  1044  in the rolling motion at the predetermined pressure. The arm actuator control module  1318  may roll the first wet out tool  1012  all the way to the trailing edge  1028  of the first wet out tool  1012  or to a location between the trailing edge  1028  and the previously cut end  1048  of the first piece  1044 . 
     The EOAT actuator control module  1334  may extend the second wet out tool  1016  to a predetermined extended position after the first piece  1044  is applied. For example only, the EOAT actuator control module  1334  may extend the second wet out tool  1016  while the EOAT is moved toward the second desired angle, offset, and radius. When in the predetermined extended position, the arc shaped face  1036  of the second wet out tool  1016  is extended past the arc shaped face  1024  of the first wet out tool  1012 . The predetermined extended position may be a predetermined distance past the position of the first wet out tool  1012 . The predetermined distance may be based on the maximum possible change in the radius of the wheel over the distance between the first and second wet out tools  1012  and  1016 . 
     Once the second wet out tool  1016  is extended, the arm actuator control module  1318  positions the leading edge  1032  of the second wet out tool  1016  at the second desired angle and positions the arc shaped face  1036  of the second wet out tool  1016  within the lowerplane of the wheel. The arm actuator control module  1318  applies the second piece  1056  starting at the leading edge  1032  of the second wet out tool  1016 . The arm actuator control module  1318  rolls the second wet out tool  1016  from the leading edge  1032  toward the trailing edge  1040  of the second wet out tool  1016 . The arm actuator control module  1318  applies the second piece  1056  in the rolling motion at the predetermined pressure. The arm actuator control module  1318  may roll the second wet out tool  1016  all the way to the trailing edge  1040  of the second wet out tool  1016  or to a location between the trailing edge  1040  and the previously cut end  1060  of the second piece  1056 . The second piece  1056  may be applied by rolling the second wet out tool  1016  similar to how the first piece  1044  is applied. The rolling motion wets out the pieces. 
     Referring now to  FIGS. 15A-15B , a flowchart depicting an example method  1600  of controlling the arm  1004  and the EOAT  1008  is presented. Control begins at  1604 , where balancing data is received. At  1608 , control determines, based on the balancing data, whether application of a first piece is necessary. If so, control continues at  1612 ; otherwise, control transfers to  1616 . 
     At  1612 , controls positions the first wet out tool in the final cutting position. Control continues at  1620 , where a dispense and cut signal is sent to the cutting system, such as the central control module  302  of  FIG. 3 . Control continues at  1624  and waits until a done signal is received before proceeding to  1628 . At  1628 , control determines whether the first piece  1044  is present on the first wet out tool  1012  based on feedback received from the one or more sensors implemented with the first wet out tool  1012 . If the piece is present, control transfers to  1616 ; otherwise, control transfers to  1632 . 
     At  1632 , control performs error handling. This may stop the automated balancing process and wait for operator intervention. Alternatively, the robot may initiate a cleaning process, such as wiping the face of the EOAT on an absorbent blotting material to remove accumulated grease or other lubricating elements. Control may then request the piece to be re-cut at  1636 , and control returns to  1624 . When the error handling  1632  is reached frequently, such as more than twice during a predetermined timeframe, balancing may be halted until an operator reviews the problem and affirmatively restarts the balancing process. 
     At  1616 , control determines whether the second piece is required. If so, control continues at  1640 ; otherwise, control returns to  1604 . At  1640 , control moves the second wet out tool into the final cutting position. Control continues at  1644 , where the dispense and cut signal is sent to the cutting system. Control continues at  1648  and waits until a done signal is received before continuing at  1652 . At  1652 , control determines whether the second piece  1056  is present on the second wet out tool  1016 . If so, control continues to  FIG. 15B ; otherwise, control transfers to  1656 . At  1656 , control performs error handling. Once the error has been addressed and/or logged, control transmits a cut again signal to the cutting system at  1660 . Control then returns to  1648 . 
     At  1682  ( FIG. 15B ), control may determine the path for applying the first and second pieces  1044  and  1056 . Control may follow the path to position the leading edge  1020  of the first wet out tool  1012  at the first desired angle and to position the arc shaped face  1024  of the first wet out tool  1012  within the midplane at  1686 . Control may also retract the second wet out tool  1016  at  1686 . Control applies the first piece  1044  by rolling the first wet out tool  1012  along the midplane of the wheel from the leading edge  1020  toward the trailing edge  1028  of the first wet out tool  1012  at the predetermined pressure at  1686 . 
     Once the first piece  1044  has been applied, control extends the second wet out tool  1016  to the predetermined extended position at  1692 . Control may follow the path to position the leading edge  1032  of the second wet out tool  1016  at the second desired angle and to position the arc shaped face  1036  of the second wet out tool  1016  within the lowerplane at  1694 . In various implementations, control may extend the second wet out tool  1016  while control is moving the second wet out tool  1016  into position at  1694 . Control applies the second piece  1056  by rolling the second wet out tool  1016  along the lowerplane of the wheel from the leading edge  1032  toward the trailing edge  1040  of the second wet out tool  1016  at the predetermined pressure at  1696 . Control then returns to  1604  of  FIG. 15A . 
     The broad teachings of the disclosure can be implemented in a variety of forms. Therefore, while this disclosure includes particular examples, the true scope of the disclosure should not be so limited since other modifications will become apparent to the skilled practitioner upon a study of the drawings, the specification, and the following claims.