Patent ID: 8695190

Claim:
An apparatus comprising: a frame system having a first frame and a second frame in which the frame system is configured to hold an end effector that is configured to perform at least one operation in which the first frame is configured for attachment to a workpiece and in which the second frame is configured for attachment to the workpiece; a controller configured to control attachment of the first frame and the second frame to the workpiece by applying a vacuum and a pressure during movement of the frame system; an electromagnetic unit associated with the first frame, the electromagnetic unit configured to attract a magnetic material associated with the workpiece such that the electromagnetic unit engages the workpiece and holds the first frame on the workpiece, a channel extending through the electromagnetic unit configured to receive the end effector and allow the end effector to reach a surface of the workpiece when the electromagnetic unit engages the workpiece; a first number of suction cups associated with the first frame in which the first number of suction cups is configured for attachment to the workpiece; and a second number of suction cups associated with the second frame in which the second number of suction cups is configured for the attachment to the workpiece; wherein the controller is configured to control an application of the vacuum and the pressure by the first number of suction cups and the second number of suction cups during the movement of the frame system, the application of pressure including application of a cushion of air configured to lift the first number of suction cups and the second number of suction cups off the surface of the workpiece so as to enable movement of the first flame and the second frame.