End effector features for additively manufactured parts

Abstract

In one aspect, a device includes an additively manufactured component, the additively manufactured component includes a surface having an end effector feature, the end effector feature is additively manufactured together with the additively manufactured component and is configured to be grasped by a corresponding end effector on a robot. In one aspect, the end effector feature includes a recess in the surface. In another aspect, the recess includes an angled face. In one aspect, the recess has a teardrop shape. One aspect also includes an identification feature. In one aspect, the end effector feature includes multiple recesses in the surface. In another aspect, the end effector feature allows for three-point kinematic self-alignment active control locking.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of U.S. Patent Application No. 15 / 925,640, filed on March 19, 2018, and entitled “END EFFECTOR FEATURES FOR ADDITIVELY MANUFACTURED COMPONENTS,” the contents of which are expressly incorporated herein by reference in their entirety. Technical Field

[0003] The present disclosure relates generally to apparatus and techniques in manufacturing, and more particularly, to end effector features for three-dimensional (3-D) printing of parts. Background Art

[0004] 3-D printing, also known as additive manufacturing, is a process for creating 3-D objects. 3-D objects can be formed using layers of material based on digital model data of the object. 3-D printers can use digital model data to print one layer at a time to form layers of material. 3-D printed objects can be of almost any shape or geometry.

[0005] The 3-D printer can spread a layer of powder (e.g., powdered metal) on an operating surface. The powder layer can be about 100 microns thick. The 3-D printer can then combine specific areas of the powder layer into layers of the object, such as by using a laser to combine the powder of the powder layer together. These steps can be repeated sequentially from each layer. Thus, a 3-D printed object can be built up layer by layer to form a 3-D object.

[0006] 3-D printed parts can be used to produce subcomponents of various devices or equipment. 3-D printed subcomponents may need to be attached or connected to other subcomponents, including other 3-D printed subcomponents, extruded subcomponents, or yet other subcomponents. 3-D printed parts can be picked up and moved by a robot, and therefore, the 3-D printed parts can include end effector features that allow the end effector of the robot to pick up and move the 3-D printed parts. Summary of the invention

[0007] Several aspects of the end effector features of 3-D printed parts will be more fully described below with reference to three-dimensional printing technology.

[0008] One aspect is a device comprising an additively manufactured component. The additively manufactured component comprises a surface having an end effector feature. The end effector feature can be configured to be grasped by a corresponding end effector on a robot. In one aspect, the end effector feature comprises a recess in the surface. In another aspect, the recess comprises an angled face. In another aspect, the angle of the angled face is between 89.9 degrees and 0.1 degrees. In one aspect, the recess has a teardrop shape. One aspect also includes an identification feature. In one aspect, the end effector feature comprises a plurality of recesses in the surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Various aspects of the end effector features of a 3-D printed part will now be presented in the detailed description by way of example and not limitation in the accompanying drawings, in which:

[0010] Figure 1A -D shows an example 3-D printer system during different stages of operation;

[0011] Figure 2 is a schematic diagram illustrating example components that may be used in an automated assembly process for structures incorporating such components.

[0012] Figure 3 It is shown Figure 2 Schematic diagram of one aspect of an example component 200 .

[0013] Figure 4 It is shown Figure 2 and 3 Another schematic diagram of an aspect of an example component of FIG.

[0014] Figure 5 is a schematic diagram showing the prongs of a three-pronged end effector, for example, in an end effector feature having a bottom surface.

[0015] Figure 6 is a schematic diagram showing the minimum base surface area.

[0016] Figure 7 is a schematic diagram showing a chuck.

[0017] Figure 8 is a schematic diagram showing features of an end effector.

[0018] Fig. 9 is a schematic diagram showing end effector features for an additively manufactured node that may be used in conjunction with the end effector.

[0019] Fig.10 It shows the combination with the master control Fig. 9 Schematic diagram of the end effector features.

[0020] Fig.11 It is shown Fig. 9 and 10 End effector features and Fig.10 Schematic diagram of the master end effector.

[0021] Fig.12 It shows Fig. 9 and 10 End effector features and Fig.10 Schematic diagram of a detail view (AA) of the master end effector.

[0022] Fig.13 It shows Fig. 9 and 10 End effector features and Fig.10 Schematic diagram of a detail view (BB) of the master end effector.

[0023] Fig.14 It shows Fig. 9 and 10 End effector features and Fig.13 Detailed view of the master end effector (C).

[0024] Fig.15 It shows Fig. 9 and 10 End effector features and Fig.10 Detailed view of the master end effector (D).

[0025] Fig.16 is a schematic diagram showing examples of three end effector features that may be on an additively manufactured part.

[0026] Fig.17 is a schematic diagram illustrating various aspects of end effector features.

[0027] Fig.18 is a flow chart illustrating an example method in accordance with the systems and methods described herein. DETAILED DESCRIPTION

[0028] The detailed description set forth below in conjunction with the accompanying drawings is intended to provide a description of various exemplary embodiments of end effector features for additively manufactured components, and is not intended to represent the only embodiments in which the present invention may be implemented. The term "exemplary" used throughout this disclosure means "serving as an example, instance, or illustration" and should not be interpreted as being preferred or advantageous relative to other embodiments presented in this disclosure. For the purpose of providing a thorough and complete disclosure, the detailed description includes specific details that fully convey the scope of the invention to those skilled in the art. However, the present invention may be practiced without these specific details. In some cases, well-known structures and components may be shown in block diagram form, or omitted entirely, in order to avoid obscuring the various concepts presented throughout this disclosure.

[0029] The use of 3-D printing in the context of composite molds provides significant flexibility in enabling manufacturers of mechanical structures and mechanical assemblies to manufacture parts with complex geometries. For example, 3-D printing technology provides manufacturers with the flexibility to design and build parts with intricate internal lattice structures and / or contours that would be impossible to manufacture through traditional manufacturing processes.

[0030] Figure 1A -D shows a corresponding side view of an exemplary 3-D printer system. In this example, the 3-D printer system is a powder bed fusion (PBF) system 100. Figure 1A -D shows the PBF system 100 during different stages of operation. Figure 1A The particular aspect shown in -D is one of many suitable examples of PBF systems that employ the principles of the present disclosure. It should also be noted that Figure 1A-D and the elements of other figures in the present disclosure are not necessarily drawn to scale but may be drawn larger or smaller for the purpose of better illustrating the concepts described herein. The PBF system 100 may include: a depositor 101, which can deposit each layer of metal powder; an energy beam source 103, which can generate an energy beam; a deflector 105, which can apply the energy beam to fuse the powdered metal; and a build plate 107, which can support one or more build pieces (such as build piece 109). The PBF system 100 may also include a build base plate 111 positioned within the powder bed container. The walls of the powder bed container (i.e., the powder bed container walls 112) generally define the boundaries of the powder bed container, which is sandwiched between the powder bed container walls 112 at the sides and abuts a portion of the build base plate 111 below. The build base plate 111 can gradually lower the build plate 107 so that the depositor 101 can deposit the next layer. The entire mechanism can be placed in a chamber 113, which can enclose other components to protect the equipment, achieve atmospheric and temperature regulation, and reduce contamination risks. The depositor 101 may include a feeder 115 containing powder 117, such as metal powder, and a leveler 119 that may level the top of each layer of deposited powder.

[0031] Specific reference Figure 1A , which shows PBF system 100 after slices of build 109 have been fused but before the next layer of powder is deposited. Figure 1A The time is shown at which PBF system 100 has deposited and fused slices in multiple layers (e.g., 150 layers) to form the current state (e.g., formed from 150 slices) of build 109. The multiple layers that have been deposited have produced a powder bed 121 that includes deposited but unfused powder.

[0032] Figure 1B PBF system 100 is shown at a stage in which build plate 111 may be lowered by powder layer thickness 123. The lowering of build plate 111 causes build piece 109 and powder bed 121 to drop by powder layer thickness 123 such that the top of the build piece and powder bed is lower than the top of powder bed container wall 112 by an amount equal to the powder layer thickness. For example, in this manner, a space having a constant thickness equal to powder layer thickness 123 may be created on top of build piece 109 and powder bed 121.

[0033] Figure 1CPBF system 100 is shown at a stage in which depositor 101 is positioned to deposit powder 117 in a space formed above the top surface of build piece 109 and powder bed 121 and bounded by powder bed container wall 112. In this example, depositor 101 gradually moves over the defined space while releasing powder 117 from feeder 115. Leveler 119 can level the released powder to form a powder layer having a thickness approximately equal to powder layer thickness 123 (see Figure 1B ) thickness of powder layer 125. Thus, the powder in the PBF system may be supported by a powder material support structure, which may include, for example, build plate 107, build base plate 111, build piece 109, powder bed container wall 112, etc. It should be noted that the illustrated thickness of powder layer 125 (i.e., powder layer thickness 123 ( Figure 1B )) is greater than the reference used above Figure 1A The depicted example exemplifies the actual thickness of 150 previously deposited layers.

[0034] Figure 1D The PBF system 100 is shown at a stage in which the deposition of the powder layer 125 ( Figure 1C ), the energy beam source 103 generates the energy beam 127, and the deflector 105 applies the energy beam to fuse the next slice in the building piece 109. In various exemplary aspects, the energy beam source 103 can be an electron beam source, in which case the energy beam 127 constitutes an electron beam. The deflector 105 may include a deflection plate that can generate an electric field or a magnetic field that selectively deflects the electron beam so that the electron beam is scanned over the area designated for fusion. In various aspects, the energy beam source 103 can be a laser, in which case the energy beam 127 is a laser beam. The deflector 105 may include an optical system that uses reflection and / or refraction to manipulate the laser beam to scan the selected area to be fused.

[0035] In various aspects, the deflector 105 can include one or more gimbals and actuators that can rotate and / or translate the energy beam source to position the energy beam. In various aspects, the energy beam source 103 and / or the deflector 105 can modulate the energy beam, for example, turning the energy beam on and off as the deflector scans so that the energy beam is applied only in appropriate areas of the powder layer. For example, in various aspects, the energy beam can be modulated by a digital signal processor (DSP).

[0036] In one aspect, Figures 1A-1DThe PBF system 100 may provide a mechanism for additively manufacturing a part including a surface and a mechanism for additively manufacturing an end effector feature together with the additively manufactured part, wherein the surface includes the end effector feature and the end effector feature is configured to be grasped by a corresponding end effector on the robot. The PBF system 100 may further provide a mechanism for additively manufacturing an identification feature.

[0037] In robotics, an end effector may be a device at the end of a robotic arm that is designed to interact with an environment. An end effector may be designed to grasp an end effector feature, and an end effector feature may be designed to be grasped by an end effector. The systems and methods described herein relate to various exemplary end effector features.

[0038] There are multiple forces acting on the component or part being lifted by the robotic arm. For example, there can be friction between the end effector of the robotic arm and the end effector feature. The connection between the end effector feature and the end effector of the robotic arm can be configured to not only lift the weight of the component or part, but also continue to hold the component despite any accelerations due to the motion of the robot with the end effector moving the object. The systems and methods described herein can not only lift the component or part using friction, but can also lift the component or part by providing a certain amount of tilt due to the end effector hooking or being located under a portion of the end effector feature.

[0039] Figure 2 is a schematic diagram illustrating an example part 200 that may be used in an automated assembly process of a structure incorporating such part 200. In one aspect, features on an additively manufactured part 200, such as an end effector feature 202, may be utilized in an automated assembly process of a structure incorporating such part 200. The end effector feature 202 would serve as an interface for an end effector on a robot to allow the robot to meet the part and allow the robot to grasp the part 200, for example, during an assembly process.

[0040] The end effector on the robot may be attached to the end of the robot's arm. The end effector may allow the robot to perform specific functions, such as picking up a component 200. The next section presents various aspects of the end effector features and their corresponding effectors for the assembly process.

[0041] In one aspect, features on the additively manufactured node will be used as locators for the end effector to encounter the node and pick it up. These features or recesses will be on the additively manufactured node. Figure 2 The Additive Manufacturing node is shown with the end effector feature:

[0042] Figure 3 It is shown Figure 2200 . In one aspect, the bottom surfaces of the recesses (eg, end effector features 202 ) can be coplanar, ie, lying on the same plane 302 . Figure 3 A reference plane 302 is depicted passing through the bottom surface of the end effector feature 202 .

[0043] Figure 4 It is shown Figure 2 and 3 200 . In one aspect, the bottom surfaces 400 of the recesses (eg, the end effector features 202 ) can be coplanar, ie, lying on the same plane 302 . Figure 3 A reference plane 302 is depicted passing through the bottom surface 400 of the end effector feature 202 . Figure 3 , the coplanar nature of the bottom surface 400 of the end effector feature 202 , which may lie on the reference plane 302 .

[0044] Figure 5 is a schematic diagram showing a three-pronged end effector prong 500 in an end effector feature 202, for example, with a bottom surface 400. In one aspect, the number of end effector features 202 on a node (e.g., component 200) can be three. The three end effector features 202 can correspond to a three-pronged end effector (not shown). The effector can be positioned to grasp a part, such as component 200, by holding the part with the effector feature 202, and can pick up the part (e.g., component 200).

[0045] These features can be designed to take into account certain design considerations. One design consideration can be to angle 502 at least one of the faces relative to the base plane. Angling 502 at least one of the faces relative to the base plane can enable a gripper of the actuator to grip a part, such as component 200. When all faces are perpendicular, the actuator may not be able to engage the feature to lift the part. In one aspect, the angle 502 of at least one face can be 10 degrees. In other aspects, the angle can be an angle from 89.9 degrees to 0.1 degrees. It is understood that other examples may not be angled, but rather may be perpendicular. In such examples, a rough surface or other friction enhancement can be used to increase the lifting capacity.

[0046] Figure 6is a schematic diagram showing a minimum base surface area 600. In one aspect, another design consideration may be the use of a minimum base surface area. A minimum base surface area requirement may be used for the features described herein. Although the volume contained by a single feature may vary without departing from the range, all features may meet the minimum surface area requirement. In one aspect, the surface area requirement may be determined by a rectangle. For example, the rectangle that determines the surface area requirement for a feature may be the largest available rectangular portion on a component that may be used for the feature. In contrast to point contact, the advantage of having a planar surface may be that having a planar surface may drive efficiency and stability during the gripping process. Additionally, planar or line contact may provide better load distribution when the actuator contacts the feature. In the case of point contact, the assembly process may potentially have the risk of denting one or more parts.

[0047] The corresponding actuators that may be fixed to the robot may be additively manufactured, or machined by processes other than additive manufacturing.

[0048] Features for accepting an end effector with zero fixturing can be additively manufactured with the part. The end effector can work with corresponding features on the part to locate, seat, and grip the part. The following image depicts a feature that accepts an end effector with a zero fixturing:

[0049] Figure 7 700 is a diagram showing a collet 702. The collet 702 can be used on an end effector to grasp a component to clamp an assembly. The end effector can enter into an end effector feature 704 on an additively manufactured component, after which a sleeve 706 of the collet 702 can be expanded. The expanded sleeve 706 of the collet 702 can then engage the component, i.e., the end effector feature 704 of the component. The sides on the collet can radially expand into the collet feature, pushing against a corresponding feature on the additively manufactured part to be attached.

[0050] Figure 8 is a schematic diagram showing an end effector feature 800. The end effector feature 800 can resemble a teardrop. The teardrop-like end effector feature 800 can be additively manufactured with an additively manufactured part. In one aspect, using a larger recess with this feature can act as a groove for a collet to engage with a part. In another aspect, using a smaller recess can enable a pin-type actuator to engage with a part, thereby locking the rotation of the part when the part is lifted.

[0051] Fig. 9is a schematic diagram illustrating an end effector feature 900 of an additive manufacturing node that can be used in conjunction with an end effector. The end effector feature 900 can be teardrop shaped. For example, the end effector feature 900 can be configured to mate with or enable operation with a 3-point kinematic self-aligning active control locking end effector. The 3-point kinematic self-aligning active control locking end effector can be used for an additive manufacturing node.

[0052] Fig.10 The diagram shows the combination of the master end effector 1000. Fig. 9 Schematic diagram of end effector feature 900 of the master end effector 1000. The master end effector 1000 can be a zero-point end effector. The master end effector 1000 can be a commercially available end effector. The master end effector 1000 can be used as a repeatable and consistent robotic pick feature by working with a corresponding end effector feature (e.g., end effector feature 900) on an additively manufactured node. The end effector feature 900 can be populated on multiple nodes. A zero-point end effector (e.g., master end effector 1000) can pick up an additively manufactured part using the end effector feature 900 located on the additively manufactured part.

[0053] In one aspect, the end effector feature 900 can be shaped as a teardrop. The end effector feature 900 can achieve repeatability by constraining all 6 degrees of freedom, such as 3 axes of translation and 3 axes of rotation. Constraints for 6 degrees of freedom can be achieved by locking 3 axes of translation and 3 axes of rotation.

[0054] Locking 3 translation axes and 3 rotation axes can be achieved by forming an end effector feature with multiple sub-features. Each of the multiple sub-features can be used to constrain each translation axis and rotation axis. For example, the master end effector 1000 can include a cylindrical pin with a ball 1002. The cylindrical pin with the ball 1002 can be radially displaced outward while locking (1004). The cylindrical pin with the ball 1002 can be used to lock the tilt, thereby locking 2 rotational degrees of freedom (1006, 1008). The second feature on the master end effector 1000 can be a button 1010 (the entire master control). The button 1010 can axially constrain the part by locking the three translational degrees of freedom 1012 by being placed on the end effector feature 900 on the node. Finally, the slot / V-groove feature 1014 on the end effector feature can lock the last rotational degree of freedom (1016) by locking one ball (1002) of the master end effector 1000. The V-shaped groove feature 1014 can achieve self-alignment when one of the balls from the master end effector 1000 is captured by the groove 1014. Therefore, a 3-point kinematic self-aligning active control lock is achieved between the end effector and the end effector feature.

[0055] Additionally, the entire teardrop-shaped end effector feature 900 can be co-printed so that the outer edges are chamfered. Chamfering the outer edges of the end effector feature 900 can enable the master end effector 1000 to position the part in the XY plane.

[0056] Fig.11 is a schematic diagram showing an end effector feature 900 and a master end effector 1000. As described above, in one aspect, the end effector feature 900 can be shaped as a teardrop. The end effector feature 900 can achieve repeatability by constraining all 6 degrees of freedom, such as 3 translation axes and 3 rotation axes. Constraints to 6 degrees of freedom can be achieved by locking 3 translation axes and 3 rotation axes. Fig.11 The schematic diagram shows the positions of the three detailed views AA, BB and D, which are shown in other attached Fig.12 middle.

[0057] Fig.12 is a schematic diagram showing the end effector feature 900 and a detailed view (AA) of the master end effector 1000. The detailed view (AA) shows the axial lock 1200. The axial lock 1200 can be Fig.10 A cylindrical pin with a ball 1002 is provided.

[0058] Fig.13is a schematic diagram showing the end effector feature 900 and the detailed view (BB) of the master end effector 1000. The end effector feature 900 and the detailed view (BB) of the master end effector 1000 show the self-alignment using the pin 1300. The self-alignment can be provided by the pin 1300 in the master end effector 1000. The schematic diagram showing the detailed view (BB) also shows a detailed view C (which will be referred to as Fig.14 for discussion).

[0059] Fig.14 is a schematic diagram showing a detailed view (C) of the end effector feature 900 and the master end effector 1000. The end effector feature 900 and the detailed view (C) of the master end effector 1000 show self-alignment. The self-alignment can be provided by the pin 1300 in the master end effector 1000.

[0060] The master end effector 1000 may include a cylindrical pin 1300 with a ball 1002. The cylindrical pin 1300 with the ball 1002 may be displaced radially outward when locked (see Fig.10 The cylindrical pin 1300 with the ball 1002 can be used to lock the tilt, thereby locking the 2 rotational degrees of freedom (1006, 1008).

[0061] Fig.15 is a schematic diagram showing a detailed view (D) of the end effector feature 900 and the master end effector 1000. The detailed view (D) of the end effector feature 900 and the master end effector 1000 shows the self-aligning rotational lock 1500 provided by the groove 1014. As described above, the slot or V-groove feature 1014 on the master effector feature 1000 can lock the rotational freedom by locking one of the balls of the master end effector 1000. The V-groove feature 1014 can achieve self-alignment when one of the balls from the master end effector 1000 is captured by the groove 1014.

[0062] Fig.16 is a schematic diagram showing examples of three end effector features 1600 that may be on an additively manufactured part. Fig.16 The aspect shown may be similar to other aspects presented herein, where three end effector features 202 are located on an additively manufactured part. In addition to the three end effector features 1600, it has an identification feature 1602 in the center that can be captured by robot vision. Fig.16The triangle shown as the identification feature 1602 in the figure can be colored and can be used as a reference mark that provides robot position and orientation information of the part that combines the three end effector features 1600 and the identification feature 1602. The three end effector features 1600 and the identification feature 1602 can be used as part of the assembly process. In some aspects, the mark used as the identification feature 1602 can include one or more contrasting colors or textures, which can allow illumination by an external light source to generate well-defined light and shadows. On the other hand, structured light such as laser lines can be used. Structured lines, such as laser lines, can help capture position changes in three dimensions. The ability to better capture position changes in three dimensions can further help the robot accurately assemble parts.

[0063] Fig.17 1704. is a schematic diagram illustrating aspects of an end effector feature 1700. In one aspect, the end effector features 1700 can be spaced apart (1702) to enable a gripping force to counteract the moment associated with the greater mass of certain components 1704. The end effector can open and close against the features 1700 to grip a part (e.g., component 1704).

[0064] Fig.18 1800 is a flowchart illustrating an example method according to the systems and methods described herein. At 1802, an apparatus implementing the method can additively manufacture a part including a surface. For example, the PBF system 100 can additively manufacture a part including a surface. In one aspect, the angle of the angled face can be between 89.9 degrees and 0.1 degrees.

[0065] At 1804, an apparatus implementing the method may fabricate an end effector feature. The surface may include an end effector feature, and the end effector feature may be configured to be grasped by a corresponding end effector on the robot. For example, the PBF system 100 may fabricate the end effector feature with the additively manufactured component. In one aspect, the end effector feature may be additively manufactured together with the manufactured component. In another aspect, the end effector feature may be fabricated separately from the additively manufactured component. In one aspect, the end effector feature may be additively manufactured separately from the additively manufactured component.

[0066] In one aspect, the PBF system 100 can co-additively manufacture an end effector feature that includes co-additively manufacturing a recess in a surface. In one aspect, the recess includes an angled face. The recess can have a teardrop shape. In one aspect, the PBF system 100 can co-additively manufacture an end effector that can include co-additively manufacturing a plurality of recesses in a surface. In one aspect, the bottom surfaces of the plurality of recesses are coplanar.

[0067] At 1806, the apparatus implementing the method may manufacture the identification feature. For example, the PBF system 100 may additively manufacture the identification feature. In one aspect, the plurality of recesses may include three recesses. The co-additively manufactured identification feature may be equidistantly centered with the three recesses.

[0068] At 1808, the apparatus implementing the method may fabricate the identification feature equidistantly centered with the three recesses. For example, the PBF system 100 may co-additively fabricate the identification feature equidistantly centered with the three recesses.

[0069] The previous description is provided to enable a person skilled in the art to practice the various aspects described herein. It will be apparent to those skilled in the art that various modifications of these exemplary embodiments presented throughout this disclosure will be apparent, and the concepts disclosed herein can be applied to 3-D printed parts and fasteners. Therefore, the claims are not intended to be limited to the exemplary embodiments presented throughout this disclosure but are consistent with the full scope of the claims in accordance with the language. All structural and functional equivalents of the elements of the exemplary embodiments described throughout this disclosure are known to or will be known to a person of ordinary skill in the art in the future and are intended to be covered by the claims. In addition, regardless of whether such disclosure is explicitly stated in the claims, the content disclosed herein is not intended to be committed to the public. Under the terms of 35 U.S.C. § 112 (f) or similar laws in the applicable jurisdiction, the elements of the claims will not be interpreted unless the phrase "device for..." is used to clearly state the element, or in the case of a method claim, the phrase "step for..." is used to state the element.

Claims

1. A device, include: An additively manufactured part comprising a surface having an end effector feature, the end effector feature comprising a face that is recessed into a recess in the surface, wherein at least a portion of the face of the end effector feature is angled between 89.9 degrees and 0.1 degrees relative to the surface to enable the end effector feature to be grasped by an end effector on a robot so that the additively manufactured part can be lifted by the robot, and Wherein the face of the end effector feature is configured to engage a sharp corner of the end effector to grasp and lift the additively manufactured part based on the end effector hooking the portion of the face and providing a force to the portion of the face.

2. The device according to claim 1, in, The end effector feature comprises one of an additively manufactured end effector feature manufactured separately from the additively manufactured component, a co-additively manufactured end effector feature additively manufactured together with the additively manufactured component, or an alternatively manufactured end effector feature manufactured separately from the additively manufactured component.

3. The device according to claim 1, in, The recess has a teardrop shape. The device of claim 1 , further comprising an identification feature.

5. The device according to claim 1, in, The end effector feature comprises a plurality of recesses in the surface.

6. The device according to claim 5, in, The bottom surfaces of the plurality of recesses are coplanar.

7. The device according to claim 5, in, The plurality of recesses includes three recesses.

8. The apparatus of claim 7, further comprising an identification feature equidistantly centered from the three recesses.

9. The device according to claim 1, in, The end effector feature comprises a teardrop-shaped end effector feature.

10. The device according to claim 9, in, The end effector features enable 3-point kinematic self-aligning active controlled locking.

11. The device according to claim 1, in, The end effector feature is configured to retain the weight of the additively manufactured part.

12. The device according to claim 11, in, The end effector features are further configured to retain the additively manufactured component during accelerations experienced by the additively manufactured component during assembly.

13. The device according to claim 1, in, The angle between the face and the bottom surface of the recess is between 89.9 degrees and 0.1 degrees.

14. The device according to claim 1, in, The end effector feature also includes a second face, wherein the second face is perpendicular to the surface or the bottom surface of the recess.

15. A device, include: a mechanism for additively manufacturing a part including a surface to form an additively manufactured part, and a mechanism for manufacturing an end effector feature, wherein the end effector feature includes a face that is recessed into a recess in the surface, wherein at least a portion of the face of the end effector feature is angled between 89.9 degrees and 0.1 degrees relative to the surface to enable the end effector feature to be grasped by an end effector on a robot so that the additively manufactured part can be lifted by the robot, and Wherein the face of the end effector feature is configured to engage a sharp corner of the end effector to grasp and lift the additively manufactured part based on the end effector hooking the portion of the face and providing a force to the portion of the face.

16. The device according to claim 15, in, The mechanism for manufacturing the end effector feature is further configured to be one of an additively manufactured end effector feature manufactured separately from the additively manufactured component, the end effector feature additively manufactured together with the additively manufactured component, or an alternatively manufactured end effector feature manufactured separately from the additively manufactured component.

17. The device according to claim 15, in, The recess has a teardrop shape.

18. The apparatus of claim 15, further comprising a mechanism for producing an identification feature.

19. The device according to claim 15, in, The mechanism for creating the end effector feature creates a plurality of recesses in the surface.

20. The device according to claim 19, in, The bottom surfaces of the plurality of recesses are coplanar.

21. The device according to claim 19, in, The plurality of recesses includes three recesses.

22. The device according to claim 21, in, The mechanism used to create the end effector feature creates an identification feature equidistantly centered with the three recesses.

23. The apparatus according to claim 15, in, The mechanism for producing the end effector feature is configured to produce a teardrop-shaped end effector feature.

24. The device according to claim 23, in, The mechanism for making the end effector feature makes an end effector feature capable of achieving 3-point kinematic self-aligning actively controlled locking.

25. The apparatus according to claim 15, in, The end effector feature is configured to retain the weight of the additively manufactured part.

26. The device according to claim 25, in, The end effector features are further configured to retain the additively manufactured component during accelerations experienced by the additively manufactured component during assembly.

27. The apparatus according to claim 15, in, The angle between the face and the bottom surface of the recess is between 89.9 degrees and 0.1 degrees.

28. The apparatus according to claim 15, in, The end effector feature also includes a second face, wherein the second face is perpendicular to the surface or the bottom surface of the recess.

29. A device, include: an additively manufactured part comprising a surface having an end effector feature, the end effector feature comprising a face recessed into a recess in the surface and a plurality of sub-features, wherein the plurality of sub-features are configured to constrain six degrees of freedom of the component by locking three translation axes and three rotation axes, wherein at least a portion of a face of the end effector feature is angled relative to the surface such that the end effector feature can be grasped by an end effector on a robot such that the additively manufactured part can be lifted by the robot, and Wherein the face of the end effector feature is configured to engage a sharp corner of the end effector to grasp and lift the additively manufactured part based on the end effector hooking the portion of the face and providing a force to the portion of the face.

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