Here’s the flange for the robot. Note colors for locations of pins on interface plate.

Red - Anvil Pin

Blue - Other Pins

Orange - Spring Pin

Here’s the new interface plate. Colors match previous picture. All are 10 mm high, which is also the depth of control pin hole. This is the most shallow hole in the flange.

Red - Anvil Pin

Blue - Other Pins

Orange - Spring Pin

This is an overhead view of the flange and interface plate together. Colors are the same again. Blue pins locate the interface plate to the plane of the flange and the red pin constrains rotation. The orange device is a spring pin to pre-load the other pins and hold the plate in place.

Red - Anvil Pin

Blue - Other Pins

Orange - Spring Pin

Light gray circles are features on the tool flange. Two black circles are edges of flange and interface plate.

Interface plate

Flange

ANVIL

Interface Plate

Flange

PIN

Dfull

Dfull

Drel

Lforce

Lrel

Lfull

Lin

LpinLf

Lpin = Lfull + Lrel + Lforce

Lf = Lfull + Lrel + ½*Lforce

Lin = Lrel + Lforce

Lin ≤ 8 mm

Dimensions of Spring Pin and General Setup

ANVIL

Interface Plate

Flange

Actual Deformation of Spring Pin

PIN

10 mm

Deflection y is set at an initial default:

Y= ½*(Dfull-Drel)

F