Patent Publication Number: US-2022212352-A1

Title: Part transfer system

Description:
TECHNICAL FIELD 
     This application claims priority, and the benefit of, U.S. Provisional Patent Application No. 63/133,533 filed on Jan. 4, 2021, the entire disclosure of which is incorporated by reference herein. 
    
    
     TECHNICAL FIELD 
     The present disclosure generally relates to a manufacturing system, and more particularly, to a part transfer system. 
     BACKGROUND 
     During manufacturing of some mechanical systems, such as aircraft, some components may need to be transferred from one place to another. To do so, a manufacturing system may pick a component at one location and move it to another location. The manufacturing system may include an end effector capable of holding the component. Such end effector may then be moved to transfer the component to another location. 
     SUMMARY 
     The present disclosure describes a part transfer system and method for transferring a part, such as a stringer or another polymer composite object, from one location, such as a former, to another location, such as a kitting tray. The presently disclosed part transfer system allows parts, such as stringers, of different sizes to be transferred from one location to another location without significant changes to this system, thereby reducing manufacturing costs and time. 
     In an aspect of the present disclosure, the part transfer system includes a movable support, a plurality of arms coupled to the movable support, and an end effector coupled to each of the plurality of arms. The end effector includes a body and a plurality of dividers each coupled to the body. The plurality of dividers divides the body into a plurality of partitions. The end effector includes a plurality of vacuum ports each in fluid communication with one of the plurality of partitions. The part transfer system further includes a vacuum source in fluid communication with at least one of the plurality of vacuum ports. Each of the plurality of vacuum ports is configured to draw a fluid from the plurality of partitions to establish a vacuum between the end effector and a part that is engaged with the end effector, thereby securing the part to the end effector. 
     The part transfer system may further include a plurality of sensors each coupled to one of the plurality of partitions. Each of the plurality of sensors is configured to sense whether a pressure in each of the plurality of partitions is equal to or less than a predetermined pressure threshold, and the end effector is configured to be secured to the part when the pressure in at least one of the plurality of partitions is equal to or less than the predetermined pressure threshold. At least one of the plurality of sensors may be a flow sensor. At least one of the plurality of sensors may be a passive pressure sensor. 
     The plurality of partitions may include at least a first partition and a second partition. The first partition and the second partition may be detachably coupled to each other. The vacuum source may be configured to selectively draw the fluid from at least one of the plurality of partitions. 
     The part transfer system may further include a kitting tray configured to receive the part. The movable support may be configured to move to thereby place the part on the kitting tray. The vacuum source may be referred to as a first vacuum source, and the part transfer system may further include a second vacuum source in fluid communication with the kitting tray. The kitting tray may include a tray body and a plurality of vacuum tray ports extending through the tray body. Each of the plurality of vacuum tray ports may be in fluid communication with the second vacuum source to draw a gas from the plurality of vacuum tray ports to thereby secure the part to the kitting tray when the part is disposed on the kitting tray. 
     The part transfer system may further include an indexing mechanism configured to align the end effector with a former and with the kitting tray. The indexing mechanism may be a cup/cone system. 
     The part transfer system may further include a controller in communication with the first vacuum source. The controller may be programmed to command the first vacuum source to fluidly disconnect from the plurality of vacuum ports of the end effector when the plurality of vacuum tray ports is in fluid communication with the second vacuum source. The end effector has a maximum length, and at least two of the plurality of vacuum ports may be spaced apart from each other along the maximum length of the end effector. 
     The present disclosure also describes a method of transferring a part, such as a stringer. In an aspect of the present disclosure, the method includes: (a) activating a vacuum source, wherein the vacuum source is in fluid communication with a plurality of partitions of an end effector, the end effector includes a plurality of vacuum ports each in fluid communication with at least one of the plurality of partitions; (b) moving the end effector toward the part until the end effector engages the part; (c) maintaining the end effector stationary after the end effector engages the part until the pressure in at least one of the plurality of partitions is equal to or less than a predetermined pressure threshold; and (d) moving the end effector along with the part toward a kitting tray until the part is placed on the kitting tray. 
     The method may further include sensing the pressure in each of the plurality of partitions using a plurality of sensors. Each of the plurality of sensors may be configured to sense whether the pressure in each of the plurality of partitions is equal to or less than the predetermined pressure threshold. The end effector may be configured to be secured to the part when the pressure in at least one of the plurality of partitions is equal to or less than the predetermined pressure threshold. The method may further include detaching at least one of the plurality of partitions from a rest of the plurality of partitions. The method may further include blocking fluid flow between the vacuum source and at least one of the plurality of vacuum ports. 
     The vacuum source may be referred to as a first vacuum source as discussed above. The method may further include fluidly disconnecting the vacuum source from the plurality of vacuum ports of the end effector after the part is placed on the kitting tray. The kitting tray may include a tray body and a plurality of vacuum tray ports extending through the tray body. Each of the plurality of vacuum tray ports may be in fluid communication with a second vacuum source to draw a gas from the plurality of vacuum tray ports to secure the part to the kitting tray when the part is disposed on the kitting tray. 
     The method may further include fluidly connecting the second vacuum source to the plurality of vacuum tray ports to draw the gas from the plurality of vacuum tray ports to secure the part to the kitting tray after the part is disposed on the kitting tray. The method may further include commanding, by a controller, the second vacuum source to activate in order to draw the gas from the plurality of vacuum tray ports. The method may further include aligning, using an indexing mechanism, the part with the kitting tray while the moving the end effector along with the part toward the kitting tray. 
     The above features and advantages and other features and advantages of the present teachings are readily apparent from the following detailed description of the modes for carrying out the present teachings when taken in connection with the accompanying drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The accompanying drawings, which are incorporated into and constitute a part of this specification, illustrate implementations of the disclosure and together with the description, serve to explain the principles of the disclosure. 
         FIG. 1  is a schematic, perspective view of a part transfer system, depicting a pick and place system. 
         FIG. 2  is a schematic perspective view of the pick and place system of  FIG. 1 . 
         FIG. 3  is a schematic diagram of the pick and place system of  FIG. 1 . 
         FIG. 4  is a schematic bottom view of the pick and place system of  FIG. 1 . 
         FIG. 5  is a schematic front view of a sensor of the pick and place system of  FIG. 1 . 
         FIG. 6  is a schematic perspective view of a kitting tray of the part transfer system of  FIG. 1 . 
         FIG. 7  is a schematic, enlarged perspective view of a portion of the kitting tray, taken around area A of  FIG. 6 . 
         FIG. 8  is a schematic illustration of part of an indexing mechanism for aligning the pick and place system with the former, wherein the former includes a former cup. 
         FIG. 9  is a schematic illustration of part of an indexing mechanism for aligning the pick and place system, wherein the pick and place system includes a pin. 
         FIG. 10  is a schematic illustration of part of an indexing mechanism for aligning the pick and place system with the kitting tray, wherein the kitting tray includes a tray cup. 
         FIG. 11  is a schematic perspective, sectional view of an indexing mechanism, including a pin of the pick and place system placed in the tray cup of the kitting tray. 
         FIG. 12  is a flowchart of a method of transferring a part. 
         FIG. 13  is a schematic perspective view of the part transfer system of  FIG. 1 , wherein the end effector is engaged with the part. 
         FIG. 14  is a schematic perspective view of the part transfer system of  FIG. 1 , wherein the part is lifted from the former. 
         FIG. 15  is a schematic perspective view of the part transfer system of  FIG. 1 , wherein the part is moving toward the kitting tray. 
         FIG. 16  is a schematic perspective view of the part transfer system of  FIG. 1 , wherein the part is about to be placed on the kitting tray. 
     
    
    
     DETAILED DESCRIPTION 
     The foregoing summary, as well as the following detailed description of certain embodiments will be better understood when read in conjunction with the appended drawings. As used herein, an element or step recited in the singular and preceded by the word “a” or “an” should be understood as not necessarily excluding the plural of the elements or steps. Further, references to “one embodiment” are not intended to be interpreted as excluding the existence of additional embodiments that also incorporate the recited features. Moreover, unless explicitly stated to the contrary, embodiments “comprising” or “having” an element or a plurality of elements having a particular property may include additional elements not having that property. 
     With reference to  FIGS. 1 and 2 , the present disclosure describes a part transfer system  100  for transferring a part  102 , such as a stringer, from a former  104  to a kitting tray  106 . As used herein, the term “stringer” means a longitudinal structural piece in a framework of an aircraft. When assembled, the part  102  is secured to the skin of an aircraft for structural support. The part  102  may be wholly or partially made of a metallic or polymeric material, such as a polymer composite. Regardless of the material employed, the part  102  may have difference sizes (e.g., lengths). 
     During the manufacturing process, it may be necessary to move parts  102  of different sizes from the former  104  to the kitting tray  106 . It is therefore desirable to use the same part transfer system  100  to transfer parts  102  of different sizes from one location to another. By using the presently disclosed part transfer system  100 , the manufacturing operators do not have different transfer systems to move parts  102  of different sizes. Rather, the manufacturing operators may simply use the presently disclosed part transfer system  100  to move parts  102  of different sizes from the former  104  to the kitting tray  106 , thereby saving time and reducing costs. 
     The part transfer system  100  includes a pick and place system  108  configured to pick and then move the part  102  from one location to another location. The pick and place system  108  includes a movable support  110  ( FIG. 2 ) and a plurality of arms  112  ( FIG. 2 ) coupled to the movable support  110 . The movable support  110  may be arranged horizontally and may be moved by a crane or another suitable device. As a non-limiting example, the movable support  110  may be configured as a strongback or beam specifically designed to rigidly support the plurality of arms  112 . Each of the plurality of arms  112  is coupled to the movable support  110 . As a result, the arms  112  can move concomitantly with the movable support  110 . Each of the arms  112  can move independently from the movable support  110  and have three axes of freedom. Two axes are pivots  119   a ,  119   b , and one axis is a stroke (i.e., linear motions). Therefore, each arm  112  can move linearly as shown by double arrows DA. 
     With reference to  FIGS. 1-4 , the pick and place system  108  further includes an end effector  114  configured to pick and hold the part  102 . The end effector  114  may be configured as a compactor to match the inner cavity of the part material  102   a  (e.g., stringer material) formed on the former  104 . Irrespective of its specific configuration, the end effector  114  is attached to the arms  112 . Because the arms  112  are coupled to the movable support  110 , the end effector  114  can move as the movable support  110  moves. 
     The end effector  114  includes a body  116  and a plurality of dividers  118  each coupled to the body  116 . The dividers  118  divide the body  116  into a plurality of partitions  120 . As a consequence, fluid cannot flow between the partitions  120 . In other words, the partitions  120  are fluidly decoupled from one another. For this reason, each of the partitions  120  may be referred to as gas-sealed partitions  120 . The dividers  118  may be configured, for example, as a metallic or polymeric piece inserted into a kerf of the body  116  of the end effector  114 . In the depicted embodiment, the body  116  of the end effector  114  includes four partitions  120 , namely: a first partition  120   a , a second partition  120   b , a third partition  120   c , and a fourth partition  120   d . It is contemplated, however, that the body  116  of the end effector  114  may be divided into more or fewer partitions  120 . One or more of the partitions  120  may be detachably coupled to one another in order to accommodate parts  102  of different sizes. This is primarily contemplated to have a modular system that can be manufactured in short batches (cheaper) and then assembled based on the length of the former. Additionally, this allows for replacement of defective modules should damage occur. So, for example, if we have two parts lines of different lengths, one 60 feet and one 30 feet, then we would use 6 10′ modules on the long line and 3 10′ modules on the second one. This allows the first line to build any length parts up to 60′ and the second to build any length up to 30′ while both lines use the same part for their end effector modules. For instance, the first partition  120   a  and the second partition  120   b  may be detachably coupled to each other. The second partition  120   b  and the third partition  120   c  may be detachably coupled to each other, and the third partition  120   c  and the fourth partition  120   d  may be detachably coupled to each other. By detachably coupling partitions  120  to one another, the pick and place system  108  can accommodate parts  102  of different sizes. 
     The end effector  114  further includes a plurality of vacuum ports  122 . Each vacuum port  122  is in fluid communication with at least one of the partitions  120 . The vacuum ports  122  may be directly attached to the body  116  of the end effector  114 . Each vacuum port  122  may be configured as a hole fluidly coupled to one or more of the partitions  120 . The part transfer system  100  further includes a first vacuum source  124  in fluid communication with the plurality of partitions  120  through the vacuum ports  122 , thereby allowing fluid to flow from the partitions  120  to the first vacuum source  124  via the vacuum ports  122 . Upon activation of the first vacuum source  124 , each of vacuum ports  122  is configured to draw a fluid F ( FIG. 5 ), such as air, from the plurality of partitions  120  to establish a vacuum between the end effector  114  and the part  102  that is engaged with the end effector  114  to secure the part  102  to the end effector  114 . The end effector  114  has a maximum length ML, and at least two of the vacuum ports  122  are spaced apart from each other along the maximum length ML of the end effector  114  to accommodate parts  102  of different sizes. 
     With reference to  FIGS. 1-5 , the pick and place system  108  further includes a plurality of sensors  126  each coupled to one or more of the partitions  120 . Each sensor  126  is configured to sense whether a pressure in one of the plurality of partitions  120  is less than a predetermined pressure threshold. When the pressure in one or more of the partitions  120  is equal or less than the predetermined pressure threshold, the end effector  114  is secured to the part  102 . In other words, when the pressure in one or more of the partitions  120  is equal to or less than the predetermined pressure threshold, the vacuum created between the end effector  114  and the part  102  causes the end effector  114  to securely hold the part  102 . As discussed above, the sensors  126  detect when the pressure in each of the partitions  120  is equal to or less than the predetermined pressure threshold. As a non-limiting example, one or more of the sensors  126  may be configured as a passive pressure sensor or a flow sensor. For instance, one or more of the sensors  126  may be configured as a check valve  128  ( FIG. 5 ) that only allows fluid flow in a single direction SD, but prevents fluid flow in the opposite direction. However, when the pressure in one or more of the partitions  120  is equal to or less than the predetermined pressure threshold, the check valve  128  prevents the fluid F, from flowing in both the single direction SD and its opposite direction, thereby indicating that the pressure in one or more of the partitions is equal to or less than the predetermined pressure threshold. Thus, a first vacuum source  124  is configured to selectively draw the fluid F ( FIG. 5 ) from one or more of the partitions  120  of the end effector  114 . A control system  130  (i.e., the controller) is in communication with the first vacuum source  124  and, as such, the control system  130  can control the operation of the first vacuum source  124 . For example, the control system  130  may be programmed to command the first vacuum source  124  to fluidly disconnect from the vacuum ports  122  of the end effector  114  when the vacuum tray ports  111  of the kitting tray  106  are in fluid communication with a second vacuum source  138 . 
     The sensors  126  and the vacuum ports  122  of the end effector  114  are in fluid communication with the first vacuum source  124 . The first vacuum source  124  may be configured as a vacuum pump or another device that that removes gas molecules from a sealed volume in order to leave behind a full or partial vacuum. In the present disclosure, each partition  120  of the body  116  of the end effector  114  defines a gas-sealed volume. Upon activation of the first vacuum source  124 , gas molecules are removed from the partitions  120  (which are gas-sealed) in order to leave a full or partial vacuum in the partitions  120 , thereby allowing the end effector  114  to secularly hold the part  102 . Once the pressure in the partitions  120  of the end effector  114  is equal to or less than the predetermined pressure threshold, the movable support  110  can be moved in order to move the end effector  114  (which securely holds the part  102 ) to the kitting tray  106 . 
     The part transfer system  100  may further include a control system  130  in electronic communication with the kitting tray  106 , the pick and place system  108 , and the first vacuum source  124 . Accordingly, the control system  130  is configured to receive input data  131  from and provide output data  133  to the kitting tray  106 , the pick and place system  108 , and the first vacuum source  124 . The control system  130  may also be referred to as the controller and may include hardware elements such as a processor  132 , circuitry including but not limited to a timer, oscillator, analog-to-digital (A/D) circuitry, digital-to-analog (D/A) circuitry, a digital signal processor, and input/output (I/O) devices and other signal conditioning and/or buffer circuitry. In addition to the processor  132 , the control system  130  may include memory  134  in communication with the processor  132 . The memory  134  may include tangible, non-transitory memory such as read only memory (ROM), e.g., magnetic, solid-state/flash, and/or optical memory, as well as sufficient amounts of random-access memory (RAM), electrically-erasable programmable read-only memory (EEPROM), and the like. The control system  130  may additionally include a user-interface  136  in communication with the processor  132 . The user-interface  136  may include a keyboard, a display, a touch screen, or other input or output devices that allow a user to input data and the processor to output data. Aside from the user-interface  136 , the control system  130  may use other hardware or software to control the part transfer system  100 . 
     The control system  130  may also be in electronic communication with the second vacuum source  138  that is in fluid communication with the kitting tray  106 . The second vacuum source  138  may be a vacuum pump or another device that that removes gas molecules from a sealed volume in order to leave behind a full or partial vacuum in the kitting tray  106  as discussed below. Although the depicted embodiment shows the first vacuum source  124  for the pick and place system  108  and the second vacuum source  138  for the kitting tray  106 , it is envisioned that the part transfer system  100  may include more or fewer vacuum sources. For example, the part transfer system  100  may include a single vacuum source for both the pick and place system  108  and the kitting tray  106 . 
     With reference to  FIGS. 1, 6, and 7 , as discussed above, the pick and place system  108  is configured to move the part  102  from the former  104  to the kitting tray  106 . The kitting tray  106  is configured to receive the part  102 . The kitting tray  106  includes a tray body  109  and a recess  113  defined in the tray body  109  configured, shaped, and sized to receive the part  102 . The kitting tray  106  can be either straight for generic stringers or include a net shape of a unique or semi-unique stringer. The recess  113  may extend along the entire length of the tray body  109 . Regardless of its specific shape, the kitting tray  106  has a plurality of vacuum tray ports  111  extending through the tray body  109 . It is contemplated that the kitting tray  106  may include a raised portion/plateau instead of the recess  113 . This raised portion may act as a male tooling surface to mate with a female part  102 . In this case, the end effector  114  may be a female tool to pick up the part  102  that was formed on a male tool. The part  102  may then be moved to a male tool tray. Each of the vacuum tray ports  111  is in fluid communication with the second vacuum source  138 . In other words, the kitting tray  106  is in fluid communication with the second vacuum source  138  through the vacuum tray ports  111 . The vacuum tray ports  111  may be arranged along the length of the tray body  109  on opposite sides of the recess  113  to securely hold the part  102  when the part  102  is placed in the recess  113  and the second vacuum source  138  is activated. The kitting tray  106  may include vacuum tray ports  111  in a stringer flange area to secure the flange from natural relaxation that tends to lift up. The flatness helps the scanners verify the shape and size of the fabricated stringer. For other configurations of trays that have male features, the vacuum features may be positioned as needed on the cross-section to assist manufacturing. The second vacuum source  138  is configured to draw a gas (e.g., air) from the vacuum tray ports  111  to secure the part  102  to the kitting tray  106  when the part  102  is disposed on the kitting tray  106 . 
     The kitting tray  106  includes a plurality of segments  115  that can be decoupled from each other. The kitting tray  106  includes a plurality of dividing walls  121  to divide the segments  115 , thereby preventing fluid from between the segments  115 . Due to the segments  115  and the dividing walls  121 , the kitting tray  106  can accommodate the part  102  independently of its size when the second vacuum source  138  is activated. The vacuum chambers created by the segment  115  can be sized appropriately to generate any needed resolution for accommodating varying incremental differences in part length. The segments  115  are also detachably coupled to one another. Thus, one or more segments  115  of the kitting tray  106  may be detached from the other segments  115  to accommodate parts  102  of different sizes. For example, the kitting tray  106  may be ten feet long with a number of five-foot segments  115 . Alternatively, we may have 10′ trays using 5′ modules to accommodate short stringers, then 20′ and 30′ and so forth and just roundup the stringer length. Also, the kitting tray  106  may be 20 feet long or 30 feet long. Alternatively, the kitting tray  106  may be a 40-foot tray for all parts  102  regardless of part length. The kitting tray  106  may include an end plug  117  to gas-seal an end segment  115   e  of the segments  115 . The fluid separations happen at the vacuum tray ports  111  points, but not necessarily throughout. The kitting tray  106  may have fluid continuity between the segments  115  to distribute vacuum for the vacuum tray ports  111 . The kitting tray  106  itself may not be a vacuum chamber due to weight but rather a hose is used to move the small amount of air. The kitting tray  106  does not act like an accumulator and, therefore, does not reduce the responsiveness of the sensors. 
     With reference to  FIGS. 8-11 , the part transfer system  100  further includes an indexing mechanism  140  configured to align the pick and place system  108  with the former  104  and/or the kitting tray  106 . The indexing mechanism  140  may be a cup-cone system, and in such case, the pick and place system  108  may include a pin  142 . Alternatively, the indexing mechanism  140  may be an optical, hard stop points, global positioning system (GPS), or another type of indexing mechanism. The former  104  may include a former cup  144  (or cone) shaped and sized to receive the pin  142  of the pick and place system  108  to align the pick and place system  108  with the former  104 . The kitting tray  106  may include a tray cup  146  (or cone) configured to receive the pin  142  to align the pick and place system  108  with the kitting tray  106 . To align the kitting tray  106  with the pick and place system  108 , the pin  142  is placed inside the tray cup  146  of the kitting tray  106 . The pin  142  is therefore shaped and sized to be disposed inside the tray cup  146  to align the kitting tray  106  with the pick and place system  108  and is shaped and sized to be disposed inside the former cup  144  to align the pick and place system  108  with the former  104 . 
     With reference to  FIGS. 12-16 , a method  200  can be executed to transfer the part  102  from one location to another location, such as from the former  104  to the kitting tray  106 . The method  200  begins at block  202 , where the part  102  or stringer material  102   a  is provided. The part  102  may be a generic length or may be trimmed to a desired length. The method  200  then proceeds to block  204 . 
     At block  204 , the part  102  is placed at a predetermined location, such as on the former  104  as shown in  FIG. 13 . In other words, the part  102  is staged at an off-location, such as the former  104 . At block  204 , one or more of the partitions  120  may be detached from the rest of the partitions  120  to accommodate the length of the part  102 . Alternatively, the part  102  is supported with the fully covered partitions  120 . The partially covered partitions  102  on the end do not engage due to the sensors  126 , the stiffness of the part  102  is enough to keep the part  102  straight. The method  200  then proceeds to block  206 . At block  206 , the end effector  114  is provided. As discussed above, the end effector 114  may function as a compactor to shape the shape of the part  102 . After block  206 , the method  200  continues to block  210 . 
     At block  210 , the end effector  114  is moved toward the part  102  until the end effector  114  engages the part  102 . For example, the end effector  114  may be moved toward the part  102  until the end effector  114  is in direct contact with the part  102 . While moving the end effector 114  toward the part  102 , the end effector  114  may be aligned with the former  104  by inserting the pin  142  into the former cup  144  of the indexing mechanism  140  (or by using another suitable indexing mechanism). The end effector  114  may apply pressure to the part  102  disposed on the former  104  to change the shape of the part  102 , thereby allowing the part  102  to be assembled onto a specific airplane. Alternatively, the former  104  may create the part  102  (e.g., stringer) and the end effector  114  may only retrieve the part  102 . When the end effector  114  engages the part  102 , the partitions  120  of the end effector  114  are covered by the part  102 . In the method  200 , the first vacuum source  124  is also provided at block  211 . At this stage of the process, the first vacuum source  124  is ON after placing the end effector  114  engages the part  102  at block  210 . Hence, at block  211 , the first vacuum source  124  is activated. As discussed above, the first vacuum source  124  is in fluid communication with the partitions  120  of the end effector  114  through vacuum ports  122 . Then, the method  200  continues to block  212 . 
     At block  212 , the partitions  120  of the end effector  114  that are covered by the part  102  accumulate vacuum pressure due to the small flow through the sensors  126 . This vacuum pressure is accumulated until the vacuum pressure at each of the partitions  120  is equal to or less than the predetermined pressure threshold. To do so, the first vacuum source  124  should be ON until the vacuum pressure at each of the partitions  120  is equal to or less than the predetermined pressure threshold, and the end effector  114  should be maintained stationary until the vacuum pressure at each of the partitions  120  is equal to or less than the predetermined pressure threshold. At block  212 , the sensors  126  sense whether the pressure in each of the partitions  120  is equal to or less than the predetermined pressure threshold. When the pressure in each of the partitions  120  is equal to or less than the predetermined pressure threshold, the part  102  is secured to the end effector  114 . The sensors  126  may be check valves that allow the fluid F to flow from the part  102  into the first vacuum source  124  while vacuum pressure in the partitions  120  is greater than the predetermined pressure threshold, but block the fluid F from flowing between the part  102  and the end effector when the vacuum pressure in the partitions is equal to or less than the predetermined pressure sensor. In other words, at block  212 , the fluid flow between the first vacuum source  124  and the vacuum ports  122  may be blocked once the vacuum pressure in the partitions  120  is equal to or less than the predetermined pressure threshold. In response to determining that the pressure in each of the partitions  120  is equal to or less than the predetermined pressure threshold by, for example, the sensors  126 , the method  200  proceeds to block  214 . 
     At block  214 , the control system  130  may command the pick and place system  108  to automatically lift the end effector  114  with the secured part  102  in response to determining that the pressure in each of the partitions  120  is equal to or less than the predetermined pressure threshold as shown in  FIG. 14 . At this stage, the part  102  is secured to the end effector  114 . Thus, lifting the end effector  114  causes the part  102  to be lifted as well. Alternatively, the control system  130  may generate an alert (such as a visual alert or an audible alert) to notify the user of the part transfer system  100  that the end effector  114  is secured to the part  102  and can therefore be moved to another location, such as the kitting tray  106 . The user may then command the pick and place system  108 , through the user-interface  136  of the control system  130 , to move to another location. The method  200  then proceeds to blocks  216 . 
     At block  216 , the kitting tray  106  is provided. The method  200  then proceeds to block  220 . At block  220 , the part  102  (which is secured to the end effector  114 ) is moved toward the kitting tray  106  until the part  102  is placed on the kitting tray  106  as shown in  FIGS. 15 and 16 . To align the end effector  114  with the kitting tray  106 , the pin  142  of the pick and place system  108  may be inserted into the tray cup  146  of the indexing mechanism  140  while moving the part  102 . Alternatively, other suitable indexing mechanisms may be used to align the end effector  114  with the kitting tray  106 . The method  200  then proceeds to block  221 . 
     At block  221 , the second vacuum source  138  may be turned ON to draw a gas (e.g., air) from the vacuum tray ports  111  of the kitting tray  106 , thereby securing the part  102  to the kitting tray  106 , after the part  102  is placed on the kitting tray  106  at block  220 . At block  221 , the control system  130  may command the second vacuum source to activate (i.e., turn ON) in response to, for example, determining that the fluid F is no longer drawn thought vacuum ports  122  of the end effector  114 . Therefore, at this stage, the second vacuum source  138  is fluidly connected to the vacuum tray ports  111  of the kitting tray  106 . Once the part  102  is disposed on the kitting tray  106 , the end effector  114  should be maintained connected to (e.g., in direct contact with) the part  102  at the interface of the vacuum pressure between the kitting tray  106  and the part  102  is equal to or less than the predetermined pressure threshold in order to secure the part  102  to the kitting tray  106  before disconnecting the end effector  114  from the part  102 . The kitting tray  106  may include sensors, such as the sensors  126 , described above to measure the vacuum pressure at the interface between the kitting tray  106  and the part  102 . In response to determining that the vacuum pressure at the interface of the kitting tray  106  and the part  102  is equal to or less than the predetermined pressure threshold, the method  200  proceeds to block  222 . 
     At block  222 , the first vacuum source  124  may be turned OFF. As a consequence, the part  102  is released from the end effector  114 . At block  222 , the first vacuum source  124  may be fluidly disconnected from the vacuum ports  122  of the end effector  114 . Once the part  102  is released from the end effector  114 , the method  200  continues to block  224 . At block  224 , the end effector  114  is removed from the part  102 . 
     As used herein, a system, apparatus, structure, article, element, component, or hardware “configured to” perform a specified function is indeed capable of performing the specified function without any alteration, rather than merely having potential to perform the specified function after further modification. In other words, the system, apparatus, structure, article, element, component, or hardware “configured to” perform a specified function is specifically selected, created, implemented, utilized, programmed, and/or designed for the purpose of performing the specified function. As used herein, “configured to” denotes existing characteristics of a system, apparatus, structure, article, element, component, or hardware that enable the system, apparatus, structure, article, element, component, or hardware to perform the specified function without further modification. For purposes of this disclosure, a system, apparatus, structure, article, element, component, or hardware described as being “configured to” perform a particular function may additionally or alternatively be described as being “adapted to” and/or as being “operative to” perform that function. 
     The illustrations of the embodiments described herein are intended to provide a general understanding of the structure of the various embodiments. The illustrations are not intended to serve as a complete description of all of the elements and features of apparatus and systems that utilize the structures or methods described herein. Many other embodiments may be apparent to those of skill in the art upon reviewing the disclosure. Other embodiments may be utilized and derived from the disclosure, such that structural and logical substitutions and changes may be made without departing from the scope of the disclosure. Accordingly, the disclosure and the figures are to be regarded as illustrative rather than restrictive.