SUMMARY

This work follows the design, prototyping and implementation of an automatic part loading and unloading system for use in thread rolling of aerospace fasteners. The thread rolling automation system is designed to function as part of a multi-process workcell, which emphasizes adaptability and ease of implementation. Design of the thread rolling automation facilitates the development of a universal gripping system, which is designed to grasp a large variety of fastener styles and sizes with a minimum of tooling changeover. A novel grasping model is developed to predict the error tolerance of the proposed gripping system design, which is validated experimentally. The proposed gripper and automation system are prototyped and tested, and shown to perform reliably with a wide range of fastener types.