Wire carriers, end effectors and methods for transporting wires

Abstract

To provide wire carriers, end effectors and methods for transporting wires.SOLUTION: A wire carrier 100 for transporting a wire 102 includes a support structure 104, a coil holder 108, a first end holder 118 and a second end holder 120. The support structure 104 comprises a front side 106 and a rear side. The coil holder 108 is secured to the front side 106 of the support structure 104 at a first location corresponding to a coil 110 of the wire 102 and a first position 112 on the coil 110 between a first end 114 of the wire 102 and a second end 116 of the wire 102. The first end holder 118 is secured to the front side 106 of the support structure 104 at a second location corresponding to the first end 114 of the wire 102. The second end holder 120 is secured to the front side 106 of the support structure 104 at a third location corresponding to the second end 116.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates generally to techniques for transporting wire, and more particularly to the use of wire carriers and end effectors for transporting and transporting wire. Various techniques of the present disclosure include transporting wire from a wire preparation system to a wire transport system, transporting wire via the wire transport system to a wire assembly system, and transporting wire from the wire transport system to a wire assembly system. [Background technology]

[0002] Industrial practices for wire harness manufacturing have remained virtually unchanged since the 1960s. Raceway wiring involves preparing individual wires, terminating them to first-end connectors, forming them into individual harnesses, terminating them to second-end connectors, and assembling them into bundles on raceway supports. The raceway supports are then transported to the factory and installed in the final product, such as an airplane. This process can currently take 45 man-days. Furthermore, the current process involves many non-value-added steps associated with packaging, shipping, receiving, and unpacking. This process can also result in significant work-in-process buffers due to resource shortages or long delivery times.

[0003] Electrical wiring raceways contain numerous electrical wires that run the length of an end product to distribute data, signals, and power throughout the end product. For example, an airplane typically has four to five raceways that run the length of the plane. These raceways are physically separated from one another to mitigate physical threats such as a falling engine blade or a bomb exploding.

[0004] Raceways are traditionally assembled using the following process: Long wire bundles are bundled, tested, coiled, packaged, and shipped to an electrical system responsibility center. A third party may also assemble these wire bundles. The electrical system responsibility center receives these bundles, uncoils them, and assembles them with other similar bundles on a long assembly table. These bundles are tied and / or clamped together and attached to the base of a spanner bar. This long assembly is then coiled onto a carrier tool and transported to the final product assembly plant. At the final product assembly plant, these assemblies are uncoiled, transported, and lifted into the final product. For final products such as airplanes, extra-large carrier tools may be used to avoid the coiling, uncoiling, and lifting steps. Traditional raceway assembly is based on the final product production line.

[0005] Existing raceways, wiring harnesses, and bundles may contain wires ranging from 24 inches to 100 feet. Current techniques for assembling such wires into raceways require significant manual labor. For example, there is no known means of autonomously managing wire length variations.

[0006] Accordingly, those skilled in the art continue to conduct research and development efforts to improve techniques for the autonomous preparation of wire and the autonomous transport of autonomously and / or manually prepared wire. Summary of the Invention

[0007] A wire carrier, an end effector, and a method for transporting a wire are disclosed. The following examples of the subject matter of the present invention are not exhaustive and may include what is claimed and what is not claimed.

[0008] In one embodiment, a wire carrier for carrying a wire includes a support structure, a first coil holder, a first end holder, and a second end holder. The support structure includes a front surface and a rear surface. The first coil holder is secured to the front surface of the support structure at a first location corresponding to the coil of wire and a first position on the coil between the first end of the wire and the second end of the wire. The first end holder is secured to the front surface of the support structure at a second location corresponding to the first end of the wire. The second end holder is secured to the front surface of the support structure at a third location corresponding to the second end.

[0009] In one embodiment, an end effector for transporting a wire includes a support structure, a first retaining device, a second retaining device, a third retaining device, and an interface member. The support structure includes a front surface and a rear surface. The first retaining device is secured to the front surface of the support structure at a first location corresponding to the coil of wire and a first position on the coil between the first end of the wire and the second end of the wire. The second retaining device is secured to the front surface of the support structure at a second location corresponding to the first end of the wire. The third retaining device is secured to the front surface of the support structure at a third location corresponding to the second end. The interface member is secured to the rear surface of the support structure and extends from the rear surface for connection with an electromechanical manipulator for controlling the end effector during wire transport.

[0010] In one embodiment, a method of transporting a wire includes: i) transporting a wire from a wire preparation system to a wire assembly system using a wire carrier of a wire transport system, the wire having a first end and a second end, and the wire preparation system forming the wire into a coil having a first breakout length between the coil of wire and the first end and a second breakout length between the coil and the second end, the method further including ii) transferring the coil together with the first end and the second end from the wire carrier of the wire transport system to the wire assembly system using a first electromechanical manipulator.

[0011] Other embodiments of the wire carrier, end effector, and method for transporting a wire according to the present disclosure will become apparent from the following detailed description, the accompanying drawings, and the appended claims. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a front perspective view of an example wire carrier wire for carrying a wire, the wire carrier holding an example wire. [Figure 2] FIG. 2 is a rear perspective view of the wire carrier of FIG. 1. [Figure 3] FIG. 1 is a front view of an example of a wire. [Figure 4] 2 is a front perspective view of an example of a first coil holder in the wire carrier of FIG. 1. FIG. [Figure 5] 2 is a front perspective view of an example of a first end holder in the wire carrier of FIG. 1. FIG. [Figure 6] 2 is a front perspective view of an example of a second end holder in the wire carrier of FIG. 1. FIG. [Figure 7] 2 is a front perspective view of an example of a second coil holder in the wire carrier of FIG. 1. FIG. [Figure 8] FIG. 4 is a functional block diagram of an example manufacturing system for conveying the wire of FIG. 3. [Figure 9] 2 is a front perspective view of an example docking station for the wire carrier of FIG. 1. [Figure 10] FIG. 1 is a front perspective view of an example end effector for carrying a wire. [Figure 11] FIG. 11 is a rear perspective view of the end effector of FIG. 10. [Figure 12] 11A and 11B are front perspective views of examples of a first retaining device and a fourth retaining device of the end effector of FIG. 10. [Figure 13] 11 is a front perspective view of an example of a second retaining device and a first key assembly of the end effector of FIG. 10. FIG. [Figure 14] 11 is a front perspective view of an example of a third retaining device and second key assembly of the end effector of FIG. 10. FIG. [Figure 15] FIG. 1 is a flow diagram of an example of a wire conveying method. [Figure 16] FIG. 16 is a flow diagram of an example of transferring a coil in the method of FIG. 15. [Figure 17] FIG. 17 is a flow diagram of an example of holding the coil in FIG. 16. [Figure 18] FIG. 17 is a flow diagram of an example of holding the first end in FIG. 16. [Figure 19] FIG. 17 is a flow diagram of an example of holding the second end in FIG. 16. [Figure 20] 15. FIG. 16 is a flow diagram illustrating another example of conveying a coil in the method 1500 of FIG. [Figure 21] FIG. 21 is a flow diagram of an example of holding the coil in FIG. 20. [Figure 22] FIG. 16 is a flow diagram of an example of transferring a coil in the method 1500 of FIG. [Figure 23A-B] FIG. 23 is a flow diagram of an example of removing the coil in FIG. 22. [Figure 24] FIG. 24 is a flow diagram of an example of removing the first end portion in FIG. 23. [Figure 25] FIG. 24 is a flow diagram of an example of removing the second end portion in FIG. 23. [Figure 26] 23A-B together with a flow diagram showing another example of removing the coil in FIG. 22. FIG. [Figure 27] FIG. 23 is a flow diagram of an example of placing the coil in FIG. 22. [Figure 28] FIG. 16 is a flow diagram of an example of transferring a coil in the method 1500 of FIG. [Figure 29A-B] FIG. 29 is a flow diagram of an example of removing the coil in FIG. 28. [Figure 30] FIG. 29 is a flow diagram of an example of placing the coil in FIG. 28. [Figure 31] FIG. 31 is a flow diagram of an example of placing the first end in FIG. 30. [Figure 32] FIG. 31 is a flow diagram of an example of disposing the second end in FIG. 30. [Figure 33] 31 is a flow diagram illustrating another example of placing the coils in FIG. 28 in combination with FIG. 30. [Figure 34] 15 is a flow diagram of another example of transferring a coil in the method 1500 of FIG. 15. [Figure 35A-B] FIG. 35 is a flow diagram of an example of receiving the coil in FIG. 34. [Figure 36] FIG. 1 is a block diagram of an aircraft manufacturing and service method that implements one or more example wire transport methods of the present disclosure. [Figure 37] FIG. 1 is a schematic diagram of an aircraft incorporating a raceway structure assembled with one or more of the embodiments of the wire carriers, end effectors, and methods for transporting wires disclosed herein. DETAILED DESCRIPTION OF THE INVENTION

[0013] Various embodiments of the wire carrier 100, end effector 1000, and method 1500 for transporting a wire 102 disclosed herein provide techniques for automated handling of variable length wires 102. For example, the wire 102 may be wound into the shape of a coil 110 in a wire preparation system 804 with the first end 114 and second end 116 of the wire 102 held in a fixed position relative to the coil 110 (see, e.g., FIGS. 1 and 3). Four locations are defined to provide consistent handling. That is, i) a first end holder 118 for holding the first end 114 of the wire 102, ii) a second end holder 120 for holding the second end, iii) a first coil holder 108 for holding a first portion of the coil 110 of the wire 102 (this will be located centrally between the first end holder 118 and the second end holder 120), and iv) an optional second coil holder 124 for holding a second portion of the coil 110 (this will be on the opposite side of the coil 110 from the first coil holder 108).

[0014] First end holder 118 and second end holder 120 may be, for example, clamps that clamp onto the end of a wire or devices that terminate at the end of the wire or at a point on the length of the wire relative to the end of the wire. These end holders may have two states: an open state and a gripping state. The "open" state means that the holder is not holding the end of the wire. The "gripping" state means that the holder holds the end of the wire so that it cannot easily come out of the holder.

[0015] The first coil holder 108 and the second coil holder 124 may be, for example, clamps that encircle the coil 110 of the wire 102. These loop holders have three states: open, loosely closed, and gripping. The "open" state means that the wire can move in and out of the holder. The "loosely closed" state means that the holder is closed enough that the wire cannot move out of the holder but can slide within the holder. The "gripping" state means that the holder clamps the wire so that the wire cannot easily slide within the holder.

[0016] Variations in wire length can be accommodated by the shape of the coil 110 of the wire 102, and typically at least some of the loops will be non-circular. The distance between the first end holder 118 and the first coil holder 108 can match the distance between the second end holder 120 and the first coil holder 108. These distances are referred to as breakout lengths 302, 304.

[0017] Assuming the wire 102 is long enough to create at least one loop, the following five locations can all be consistently positioned relative to one another regardless of the wire length: i) first end holder 118, ii) second end holder 120, iii) first coil holder 108, iv) second coil holder 124, and v) central region 306 of coil 110. Variations in length can be accommodated by varying the width of at least one loop of the coil 110.

[0018] 1-10, 13, and 14, by way of example, the present disclosure relates to a wire carrier 100 for carrying a wire 102. FIG. 1 illustrates an example wire carrier 100 holding an example wire 102. FIG. 2 illustrates a rear perspective view of the wire carrier 100 of FIG. 1. FIG. 3 illustrates an example wire 102. FIG. 4 illustrates an example first coil holder 108 of the wire carrier 100 of FIG. 1. FIG. 5 illustrates an example first end holder 118 of the wire carrier 100 of FIG. 1. FIG. 6 illustrates an example second end holder 120 of the wire carrier of FIG. 1. FIG. 7 illustrates an example second coil holder 124 of the wire carrier of FIG. 1. FIG. 8 illustrates a functional block diagram of an example manufacturing system for carrying the wire of FIG. 3. FIG. 9 illustrates an example docking station 900 for the wire carrier 100 of FIG. 1. FIG. 10 illustrates an example end effector 1000 for carrying the wire 102. Figure 13 shows an example of a second retaining device 1008 and a first key assembly 1012 of the end effector 1000 of Figure 10. Figure 14 shows an example of a third retaining device 1010 and a second key assembly 1014 of the end effector 1000 of Figure 10.

[0019] 1-10 , 13 , and 14 , in one or more embodiments, a wire carrier 100 for carrying a wire 102 includes a support structure 104, a first coil holder 108, a first end holder 118, and a second end holder 120. The support structure 104 includes a front surface 106 and a rear surface 202. The first coil holder 108 is secured to the front surface 106 of the support structure 104 at a first location corresponding to the coil 110 of the wire 102 and a first position 112 on the coil 110 between the first end 114 of the wire 102 and the second end 116 of the wire 102. The first end holder 118 is secured to the front surface 106 of the support structure 104 at a second location corresponding to the first end 114 of the wire 102. The second end holder 120 is secured to the front surface 106 of the support structure 104 at a third location corresponding to the second end 116 .

[0020] In another embodiment of the wire carrier 100, the wire 102 comprises a single conductor, a twisted pair conductor, a multi-conductor cable, a shielded cable, an unsheathed cable, a coaxial cable, a matched impedance cable, a fiber optic cable, or any other suitable wire in any suitable combination. In yet another embodiment of the wire carrier 100, the first coil holder 108 is configured to at least temporarily hold the coil 110 of the wire 102. In yet another embodiment of the wire carrier 100, the first end holder 118 is configured to at least temporarily hold the first end 114 of the wire 102. In yet another embodiment of the wire carrier 100, the second end holder 120 is configured to at least temporarily hold the second end 116 of the wire 102.

[0021] In another embodiment of the wire carrier 100, the first location of the first coil holder 108 and the second location of the first end holder 118 define a first breakout length 302 between the first end 114 of the wire 102 and the coil 110 of the wire 102. In yet another embodiment of the wire carrier 100, the first location of the first coil holder 108 and the third location of the second end holder 120 define a second breakout length 304 between the second end 116 of the wire 102 and the coil 110 of the wire 102. In yet another embodiment of the wire carrier 100, the first end 114 of the wire 102 and the second end 116 of the wire 102 include termination connections 122. In further embodiments, the termination connections 122 include pins, jacks, male pins, sockets, female pins, receptacles, contacts, lugs, connectors, or any other suitable wire termination in any suitable combination.

[0022] In yet another embodiment of the wire carrier 100, the first coil holder 108 includes a clamp 402 having an open state in which the clamp receives or releases the coil 110 of the wire 102 and a closed state in which the clamp grips the coil 110. In a further embodiment, the clamp 402 includes a loosely closed state in which the clamp 402 is closed enough to hold the coil 110 of the wire 102, yet open enough to allow the coil 110 to slide within the clamp 402.

[0023] In another embodiment of the wire carrier 100, the first end holder 118 includes a clamp 502 having an open state in which the clamp 502 receives or releases the first end 114 of the wire 102 and a closed state in which the clamp 502 grips the first end 114. In a further embodiment, the clamp 502 includes a first keyway 504 configured to be engaged by a first key tool 1306 in conjunction with moving the clamp 502 to the open state. The clamp 502 is biased to the closed state and configured so that the first key tool 1306 can hold the clamp 502 in the open state. In another embodiment of the wire carrier 100, the second end holder 120 includes a clamp 602 having an open state in which the clamp 602 receives or releases the second end 116 of the wire 102 and a closed state in which the clamp 602 grips the second end 116. In a further embodiment, the clamp 602 includes a second keyway 604 configured to be engaged by a second key tool 1406 in conjunction with moving the clamp 602 to an open state. The clamp 602 is biased to a closed state and is configured such that the second key tool 1406 can hold the clamp 602 in an open state.

[0024] In yet another embodiment, the wire carrier 100 also includes a second coil holder 124 secured to the front surface 106 of the support structure 104 at a fourth location corresponding to a second location 126 on the coil 110 of the wire 102 opposite the first location 112 on the coil 110. In a further embodiment, the second coil holder 124 is configured to further hold, at least temporarily, the coil 110 of the wire 102. In yet another embodiment, the second coil holder 124 includes a clamp 702 having an open state in which the clamp 702 receives or releases the coil 110 of the wire 102 and a closed state in which the clamp 702 grips the coil 110. In a further embodiment, the clamp 702 includes a loosely closed state in which the clamp 702 is closed enough to hold the coil 110 of the wire 102, but open enough to allow the coil 110 to slide within the clamp 702.

[0025] In another further embodiment, the first location of the first coil holder 108 and the fourth location of the second coil holder 124 define a central region 306 of the coil 110 of the wire 102 relative to the support structure 104, a height dimension 308 of the coil 110, and a width dimension 310 of the coil 110. In yet another embodiment, the wire carrier 100 also includes an interface member 128 that is secured to the top surface 130 of the support structure 104 and extends outwardly to connect to the wire transport system 802 and suspends the wire carrier 100 from the wire transport system 802 in conjunction with transport of the wire 102 from the wire preparation system 804 to the wire assembly system 806.

[0026] In another embodiment, the wire carrier 100 also includes a ferromagnetic member 204 secured to the rear surface 202 of the support structure 104. In a further embodiment, the ferromagnetic member 204 is configured to at least attract and hold the wire carrier 100 to an electromagnet 902 in a docking station 900 for the wire carrier 100 from the time the electromagnet 902 is activated until the time the electromagnet 902 is deactivated. In another further embodiment, the ferromagnetic member 204 includes an iron material, a cobalt material, a steel material, a nickel material, a manganese material, a gadolinium material, a lodestone material, or any other suitable ferromagnetic material in any suitable combination. In yet another embodiment, the wire carrier 100 also includes a protruding member 206 secured to and protruding from the rear surface 202 of the support structure 104. In a further embodiment, the protruding member 206 is configured to be at least temporarily held by a clamping device 904 of the docking station 900 for the wire carrier 100.

[0027] By way of example, and referring generally to FIGS. 1, 3, 5, 8, and 10-14, the present disclosure relates to an end effector 1000 for carrying a wire 102. FIG. 1 illustrates an example wire carrier 100 holding an example wire 102. FIG. 3 illustrates an example wire 102. FIG. 5 illustrates an example first end holder 118 of the wire carrier 100 of FIG. 1. FIG. 8 illustrates a functional block diagram of an example manufacturing system for carrying the wire of FIG. 3. FIG. 10 illustrates an example end effector 1000 for carrying the wire 102. FIG. 11 illustrates a rear perspective view of the end effector 1000 of FIG. 10. FIG. 12 illustrates an example first holding device 1006 and a fourth holding device 1016 of the end effector of FIG. 10. FIG. 13 illustrates an example second holding device 1008 and a first key assembly 1012 of the end effector 1000 of FIG. 10. FIG. 14 illustrates an example of a third retaining device 1010 and a second key assembly 1014 of the end effector 1000 of FIG.

[0028] 1 , 3 , 5 , 8 , and 10-14 , in one or more embodiments, an end effector 1000 for conveying a wire 102 includes a support structure 1002, a first retainer 1006, a second retainer 1008, a third retainer 1010, and an interface member 1104. The support structure 1002 includes a front surface 1004 and a rear surface 1102. The first retainer 1006 is secured to the front surface 1004 of the support structure 1002 at a first location corresponding to the coil 110 of the wire 102 and a first position 112 on the coil 110 between the first end 114 of the wire 102 and the second end 116 of the wire 102. The second retainer 1008 is secured to the front surface 1004 of the support structure 1002 at a second location corresponding to the first end 114 of the wire 102. The third retaining device 1010 is secured to the front surface 1004 of the support structure 1002 at a third location corresponding to the second end 116. The interface member 1104 is secured to the rear surface 1102 of the support structure 1002 and extends from the rear surface 1102 for connection with the electromechanical manipulators 808, 810 in conjunction with controlling the end effector 1000 during transport of the wire 102.

[0029] In other embodiments of the end effector 1000, the wire 102 comprises a single conductor, a twisted pair conductor, a multi-core cable, a shielded cable, an unsheathed cable, a coaxial cable, a matched impedance cable, an optical fiber cable, or any other suitable wire in any suitable combination.

[0030] In yet another embodiment of the end effector 1000, the first holding device 1006 is configured to at least temporarily hold the coil 110 of the wire 102.

[0031] In yet another embodiment of the end effector 1000 , the second retaining device 1008 is configured to at least temporarily retain the first end 114 of the wire 102 .

[0032] In yet another embodiment of the end effector 1000 , the third retaining device 1010 is configured to at least temporarily retain the second end 116 of the wire 102 .

[0033] In another embodiment of the end effector 1000, a first location of the first retaining device 1006 and a second location of the second retaining device 1008 define a first breakout length 302 between the first end 114 of the wire 102 and the coil 110 of the wire 102.

[0034] In yet another embodiment of the end effector 1000, a first location of the first retaining device 1006 and a third location of the third retaining device 1010 define a second breakout length 304 between the second end 116 of the wire 102 and the coil 110 of the wire 102.

[0035] In yet another embodiment of the end effector 1000, the first end 114 of the wire 102 and the second end 116 of the wire 102 include termination connections 122. In a further embodiment, the termination connections 122 include pins, jacks, male pins, sockets, female pins, receptacles, contacts, lugs, connectors, or any other suitable wire terminations in any suitable combination.

[0036] In yet another embodiment of the end effector 1000, the electromechanical manipulators 808, 810 include a robotic manipulator, a robotic arm, a collaborative robot, an automated mechanical manipulator, a semi-automated mechanical manipulator, a fixed-actuator tending robot, a semi-manually operated robot, or any other suitable manipulator in any suitable combination.

[0037] In another embodiment of the end effector 1000, the first holding device 1006 includes a clamp 1202 having an open state in which the clamp 1202 receives or releases the coil 110 of the wire 102 and a closed state in which the clamp 1202 grips the coil 110. In a further embodiment, the clamp 1202 includes a loosely closed state in which the clamp 1202 is closed enough to hold the coil 110 of the wire 102, yet open enough to allow the coil 110 of the wire 102 to slide within the clamp 1202.

[0038] In yet another embodiment, the end effector 1000 also includes a control assembly 1204 in operative communication with the electromechanical manipulators 808, 810 via the interface member 1104 to control the clamp 1202 in response to communication with the electromechanical manipulators 808, 810. In yet another embodiment, the control assembly 1204 includes an actuator mechanically linked to the clamp 1202. In yet another embodiment, the actuator includes a pneumatic actuator, an electric actuator, a rotary actuator, a linear actuator, a solenoid, or any other suitable actuator in any suitable combination.

[0039] In yet another embodiment of the end effector 1000, the second holding device 1008 includes a clamp 1302 having an open state in which the clamp 1302 receives or releases the first end 114 of the wire 102 and a closed state in which the clamp 1302 grips the first end 114. In yet another embodiment, the end effector 1000 also includes a control assembly 1304 in operative communication with the electromechanical manipulators 808, 810 via the interface member 1104 and controlling the clamp 1302 in response to communication with the electromechanical manipulators 808, 810. In yet another embodiment, the control assembly 1304 includes an actuator mechanically linked to the clamp 1302. In yet another embodiment, the actuator includes a pneumatic actuator, an electric actuator, a rotary actuator, a linear actuator, a solenoid, or any other suitable actuator in any suitable combination.

[0040] In yet another embodiment, the end effector 1000 also includes a first key assembly 1012 with a first key tool 1306 configured to move the first key tool 1306 between a closed state and an open state. The first key assembly 1012 is configured to engage the first key tool 1306 with the first keyhole 504 of the first end holder 118 of the wire carrier 100 in the closed state. The end holder 118 is configured to at least temporarily retain the first end 114 of the wire 102. The first key assembly 1012 is configured to change the first end holder 118 to an open state in conjunction with the second retaining device 1008 placing or removing the first end 114 from the first end holder 118. In a further embodiment, the first key assembly 1012 also includes a control assembly 1308 in operative communication with the electromechanical manipulators 808, 810 via the interface member 1104 and configured to control the first key tool 1306 in response to communication with the electromechanical manipulators 808, 810. In yet another embodiment, the control assembly 1308 includes an actuator mechanically linked to the first key tool 1306. In yet another embodiment, the actuator includes a pneumatic actuator, an electric actuator, a rotary actuator, a linear actuator, a solenoid, or any other suitable actuator in any suitable combination.

[0041] In another embodiment of the end effector 1000, the third holding device 1010 includes a clamp 1402 having an open state in which the clamp 1402 receives or releases the second end 116 of the wire 102 and a closed state in which the clamp 1402 grips the second end 116. In a further embodiment, the end effector 1000 also includes a control assembly 1404 in operative communication with the electromechanical manipulators 808, 810 via the interface member 1104 and controlling the clamp 1402 in response to communication with the electromechanical manipulators 808, 810. In a further embodiment, the control assembly 1404 includes an actuator mechanically linked to the clamp 1402. In yet another embodiment, the actuator includes a pneumatic actuator, an electric actuator, a rotary actuator, a linear actuator, a solenoid, or any other suitable actuator in any suitable combination.

[0042] In yet another embodiment, the end effector 1000 also includes a second key assembly 1014 with a second key tool 1406 configured to move the second key tool 1406 between a closed state and an open state. The second key assembly 1014 is configured to engage the second key tool 1406 with the second keyhole 604 of the second end holder 120 of the wire carrier 100 in the closed state, the second end holder 120 being configured to at least temporarily retain the second end 116 of the wire 102. The second key assembly 1014 is configured to change the second end holder 120 to an open state in conjunction with the second retaining device 1008 placing or removing the second end 116 in or from the second end holder 120. In a further embodiment, the second key assembly 1014 also includes a control assembly 1408 in operative communication with the electromechanical manipulators 808, 810 via the interface member 1104 and configured to control the second key tool 1406 in response to communication with the electromechanical manipulators 808, 810. In a further embodiment, the control assembly 1408 includes an actuator mechanically linked to the second key tool 1406. In yet another embodiment, the actuator includes a pneumatic actuator, an electric actuator, a rotary actuator, a linear actuator, a solenoid, or any other suitable actuator in any suitable combination.

[0043] In yet another embodiment, the end effector 1000 also includes a fourth retention device 1016 secured to the front surface 1004 of the support structure 1002 at a fourth location corresponding to a second location 126 on the coil 110 of the wire 102 opposite the first location 112 on the coil 110. In a further embodiment, the fourth retention device 1016 is configured to further retain, at least temporarily, the coil 110 of the wire 102.

[0044] In yet another embodiment, the fourth holding device 1016 includes a clamp 1206 having an open state in which the clamp 1206 receives or releases the coil 110 of the wire 102 and a closed state in which the clamp 1206 grips the coil 110. In a further embodiment, the clamp 1206 includes a loosely closed state in which the clamp 1206 is closed enough to hold the coil 110 of the wire 102, yet open enough to allow the coil 110 to slide within the clamp 1206.

[0045] In yet another embodiment, the end effector 1000 also includes a control assembly 1208 in operative communication with the electromechanical manipulators 808, 810 via the interface member 1104 to control the clamp 1206 in response to communication with the electromechanical manipulators 808, 810. In a further embodiment, the control assembly 1208 includes an actuator mechanically linked to the clamp 1206. In a further embodiment, the actuator includes a pneumatic actuator, an electric actuator, a rotary actuator, a linear actuator, a solenoid, or any other suitable actuator in any suitable combination.

[0046] In another further embodiment, the first location of the first retaining device 1006 and the fourth location of the fourth retaining device 1016 define the extent of the central region 306 of the coil 110 of the wire 102 relative to the support structure 1002, the height dimension 308 of the coil 110, and the width dimension 310 of the coil 110.

[0047] In yet another embodiment of the end effector 1000, the end effector 1000 is configured to, in conjunction with control by the electromechanical manipulators 808, 810 via the interface member 1104, remove the coil 110 of the wire 102 together with the first end 114 and the second end 116 at a predetermined location within the wire preparation system 804, and, in conjunction with transporting the wire 102 to the wire assembly system 806, place the coil 110 together with the first end 114 and the second end 116 on a wire carrier 100 suspended from the wire transport system 802.

[0048] In another embodiment of the end effector 1000, the end effector 1000 is configured to receive a coil 110 of wire 102, together with a first end 114 and a second end 116, from the wire preparation system 804 at a predetermined location in conjunction with control by the electromechanical manipulators 808, 810 via the interface member 1104, and to place the coil 110, together with the first end 114 and the second end 116, on a wire carrier 100 suspended from the wire transport system 802 in conjunction with transporting the wire 102 to the wire assembly system 806.

[0049] In yet another embodiment of the end effector 1000, the end effector 1000 is configured to, in conjunction with control by the electromechanical manipulators 808, 810 via the interface member 1104, remove the coil 110, together with the first end 114 and the second end 116, from the wire carrier 100 suspended from the wire transport system 802 of the wire 102, and place the coil 110, together with the first end 114 and the second end 116, at a predetermined location within the wire assembly system 806.

[0050]

[0023] By way of example, and referring generally to Figures 1, 3-8, 10, 13-22, 23A-B, 24-28, 29A-B, 30-34, and 35A-B, the present disclosure relates to a method 1500 for transporting a wire 102. Figure 1 illustrates an example wire carrier 100 holding an example wire 102. Figure 2 is a rear perspective view of the wire carrier 100 of Figure 1. Figure 3 illustrates an example wire 102. Figure 4 illustrates an example first end holder 118 of the wire carrier 100 of Figure 1. Figure 5 illustrates an example first end holder 118 of the wire carrier 100 of Figure 1. Figure 6 illustrates an example second end holder 120 of the wire carrier of Figure 1. Figure 7 illustrates an example second coil holder 124 of the wire carrier of Figure 1. Figure 8 illustrates a functional block diagram of an example manufacturing system for transporting the wire of Figure 3. FIG. 9 shows an example of a docking station 900 for the wire carrier 100 of FIG. 1. FIG. 10 shows an example of an end effector 1000 for carrying the wire 102. FIG. 11 shows a rear perspective view of the end effector 1000 of FIG. 10. FIG. 12 shows an example of a first retaining device 1006 and a fourth retaining device 1016 in the end effector of FIG. 10. FIG. 13 shows an example of a second retaining device 1008 and a first key assembly 1012 of the end effector 1000 of FIG. 10. FIG. 14 shows an example of a third retaining device 1010 and a second key assembly 1014 of the end effector 1000 of FIG. 10.

[0051] FIG. 15 illustrates an example of a method 1500 for transporting a wire 102. FIG. 16 illustrates an example of step 1502 for transporting a coil 110 in the method 1500 of FIG. 15. FIG. 17 illustrates an example of step 1602 (see FIG. 16) for holding a coil 110 in FIG. 16. FIG. 18 illustrates an example of step 1604 for holding a first end 114 in FIG. 16. FIG. 19 illustrates an example of step 1606 for holding a second end 116 in FIG. 16. FIG. 20 illustrates another example of step 1502 for transporting a coil 110 in FIG. 15, in combination with FIG. 16. FIG. 21 illustrates an example of step 2002 for holding a coil 110 in FIG. 20. FIG. 22 illustrates an example of step 1504 for transferring a coil 110 in the method 1500 of FIG. 15. FIGS. 23A-B illustrate an example of step 2002 for removing a coil 110 in FIG. 22. Figure 24 illustrates an example of step 2308 of removing the first end 114 in Figure 23. Figure 25 illustrates an example of step 2310 of removing the second end 116 in Figure 23.

[0052] 23A-B show another example of step 2002 of removing the coil 110 in FIG. 22. FIG. 27 shows an example of step 2204 of positioning the coil 110 in FIG. 22. FIG. 28 shows an example of step 1506 of transferring the coil 110 in the method 1500 of FIG. 15. FIGS. 29A-B show an example of step 2802 of removing the coil 110 in FIG. 28. FIG. 30 shows an example of step 2804 of positioning the coil 110 in FIG. 28. FIG. 31 shows an example of step 3008 of positioning the first end 114 in FIG. 30. FIG. 32 shows an example of step 3010 of positioning the second end 116 in FIG. 30. FIG. 33, in combination with FIG. 30, shows another example of step 2804 of positioning the coil 110 in FIG. 28. Figure 34 shows another example of step 1506 of transferring coil 110 in method 1500 of Figure 15. Figures 35A-B show an example of step 3402 of receiving coil 110 in Figure 34.

[0053] 1 , 3-8 , 10 , 13-22 , 23A-B , 24-28 , 29A-B , 30-34 , and 35A-B , in one or more embodiments, a method 1500 of transporting a wire 102 (see FIG. 15 ) includes transporting 1502 a wire 102 from a wire preparation system 804 to a wire assembly system 806 using a wire carrier 100 of a wire transport system 802. The wire 102 includes a first end 114 and a second end 116. The wire preparation system 804 forms the wire 102 into a coil 110 having a first breakout length 302 between the coil 110 and the first end 114 of the wire 102 and a second breakout length 304 between the coil 110 and the second end 116 of the wire 102. At 1504 , the coil 110 , along with the first end 114 and the second end 116 , is transferred from the wire carrier 100 of the wire transport system 802 to the wire assembly system 806 using the first electromechanical manipulator 808 .

[0054] In another example of the method 1500, transporting 1502 the wire 102 includes holding 1602 the coil 110 of the wire 102 with a first coil holder 108 at a first location on the wire carrier 100 (see FIG. 16 ). The first location corresponds to a first position 112 on the coil 110 between the first end 114 and the second end 116. At 1604, the first end 114 of the wire 102 is held at a second location on the wire carrier 100 with the first end holder 118. The second location corresponds to the first end 114 and the first breakout length 302 between the coil 110 and the first end 114. At 1606, the second end 116 of the wire 102 is held at a third location on the wire carrier 100 with the second end holder 120. The third location corresponds to the second end 116 and a second breakout length 304 between the coil 110 and the second end 116 .

[0055] In a further embodiment, the first coil holder 108 includes a clamp 402 having an open state in which the clamp 402 receives the coil 110 of the wire 102 and a closed state in which the clamp 402 grips the coil 110. In this embodiment, holding 1602 the coil 110 of the wire 102 at a first location includes receiving 1702 the coil 110 of the wire 102 within the clamp 402 with the clamp 402 in the open state (see FIG. 17 ). At 1704, the clamp 402 is switched from the open state to a closed state to hold the coil 110. At 1706, the clamp 402 is in the closed state to grip the coil 110 within the clamp 402. In a further embodiment, the clamp 402 includes a loosely closed state in which the clamp 402 is closed enough to hold the coil 110 of the wire 102, yet open enough to allow the coil 110 to slide within the clamp 402. In this example, holding 1602 the coil 110 of wire 102 in a first location also includes switching 1708 the clamp 402 from an open state to a loosely closed state. At 1710, before switching 1704 the clamp 402 to the closed state, the coil 110 of wire 102 is slid within the clamp 402 so that the first breakout length 302 and the second breakout length 304 are approximately equal.

[0056] In another further embodiment, the first end holder 118 includes a clamp 502 having an open state in which the clamp 502 receives the first end 114 of the wire 102 and a closed state in which the clamp 502 grips the first end 114. In this embodiment, holding the first end 114 of the wire 102 at the second location 1606 includes receiving the first end 114 of the wire 102 within the clamp 502 with the clamp 502 in the open state 1802 (see FIG. 18 ). At 1804, the clamp 502 is switched from the open state to a closed state to hold the first end 114. At 1806, the clamp 502 is closed and grips the first end 114 within the clamp 502. In a further embodiment, the clamp 502 includes a first keyway 504 configured to be engaged by a first key tool 1306 in conjunction with moving the clamp 502 to the open state and back to the closed state. The clamp 502 is biased to a closed state and is configured such that the first key tool 1306 can hold the clamp 502 in an open state. In this embodiment, holding 1606 the first end 114 of the wire 102 at the second location also includes engaging 1808 the first key tool 1306 with the first keyway 504. At 1810, the first key tool 1306 is used to move the clamp 502 from the closed state to the open state so that the first end 114 of the wire 102 can be received 1802 within the clamp 502. At 1812, the clamp 502 is allowed to move from the open state to the closed state in response to the corresponding movement of the first key tool 1306.

[0057] In yet another embodiment, the second end holder 120 includes a clamp 602 having an open state in which the clamp 602 receives the second end 116 of the wire 102 and a closed state in which the clamp 602 grips the second end 116. In this embodiment, holding the second end 116 of the wire 102 at a third location 1606 includes receiving the second end 116 of the wire 102 within the clamp 602 with the clamp 602 in the open state 1902 (see FIG. 19 ). At 1904, the clamp 602 is switched from the open state to a closed state to hold the second end 116. At 1906, the clamp 602 is closed and grips the second end 116 within the clamp 602. In a further embodiment, the clamp 602 includes a second keyway 604 configured to be engaged by a second key tool 1406 in conjunction with moving the clamp 602 to the open state and back to the closed state. The clamp 602 is biased to a closed state and is configured such that the second key tool 1406 can hold the clamp 602 in an open state. In this embodiment, holding the second end 116 of the wire 102 at a third location 1606 also includes engaging 1908 the second key tool 1406 with the second keyhole 604. At 1910, the second key tool 1406 is used to move the clamp 602 from a closed state to an open state so that the second end 116 of the wire 102 can be received within the clamp 1902. At 1912, the clamp 602 is allowed to move from an open state to a closed state in response to corresponding movement of the second key tool 1406.

[0058] In yet another example, transporting 1502 the wire 102 also includes holding 2002 the coil 110 of the wire 102 with the second coil holder 124 at a fourth location on the wire carrier 100 (see FIG. 20 ). The fourth location corresponds to a second location 126 on the coil 110 opposite the first location 112 on the coil 110. In a further example, the second coil holder 124 includes a clamp 702 having an open state in which the clamp 702 receives the coil 110 of the wire 102 and a closed state in which the clamp 702 grips the coil 110. In this example, holding 2002 the coil 110 of the wire 102 at the fourth location includes receiving 2102 the coil 110 of the wire 102 in the clamp 702 (see FIG. 21 ) with the clamp 702 in the open state. At 2104, the clamp 702 is switched from the open state to the closed state to hold the coil 110. At 2106, the coil 110 is gripped within the clamp 702 with the clamp 702 in a closed state. In a further embodiment, the clamp 702 includes a loosely closed state in which the clamp 702 is closed enough to hold the coil 110 of the wire 102, yet open enough to allow the coil 110 to slide within the clamp 702. In this embodiment, holding the coil 110 of the wire 102 at the fourth location 2002 also includes switching 2108 the clamp 702 from the open state to the loosely closed state. At 2110, prior to switching 2104 the clamp 702 to the closed state, the coil 110 of the wire 102 is slid within the clamp 702 so that the first breakout length 302 and the second breakout length 304 are approximately equal.

[0059] In another embodiment of the method 1500, transferring 1504 the coil 110 includes removing 2202 (see FIG. 22 ) the coil 110 of the wire 102, together with the first end 114 and the second end 116, from the wire carrier 100 of the wire transport system 802 using the end effector 1000 of the first electromechanical manipulator 808. At 2204, the coil 110 of the wire 102, together with the first end 114 and the second end 116, is placed at a predetermined location in the wire assembly system 806 using the end effector 1000.

[0060] In a further embodiment, removing 2202 the coil 110 includes releasing 2302 ( FIG. 23A ) the first retaining device 1006, the second retaining device 1008, and the third retaining device 1010 of the end effector 1000. At 2304, the end effector 1000 is moved closer to the wire carrier 100 such that the first retaining device 1006 is closer to the first coil holder 108 of the wire carrier 100, the second retaining device 1008 is closer to the first end holder 118 of the wire carrier 100, and the third retaining device 1010 is closer to the second end holder 120 of the wire carrier 100. At 2306, the coil 110 of the wire 102 is removed from the first coil holder 108 using the first retaining device 1006 of the end effector 1000. At 2308, the first end 114 of the wire 102 is removed from the first end holder 118 using the second retaining device 1008 of the end effector 1000. At 2310, the second end 116 of the wire 102 is removed from the second end holder 120 using the third retaining device 1010 of the end effector 1000. At 2312, the second retaining device 1008 is closed to grip the first end 114 of the wire 102, and the third retaining device 1010 is closed to grip the second end 116 of the wire 102. At 2314, the first retaining device 1006 is closed to grip the coil 110 of the wire 102.

[0061] In a further embodiment, removing 2202 the coil 110 also includes partially closing 2316 the first retaining device 1006 to retain the coil 110 of the wire 102 and allow the coil 110 of the wire 102 to slide within the first retaining device 1006. At 2318, prior to closing 2314 the first retaining device 1006, the coil 110 of the wire 102 is slid within the first retaining device 1006 so that the first breakout length 302 and the second breakout length 304 are approximately equal. In another further embodiment, removing 2308 the first end 114 of the wire 102 includes engaging 2402 (see FIG. 24 ) a first key tool 1306 of the end effector 1000 with a first keyhole 504 of the first end holder 118 of the wire carrier 100. At 2404 , the first key tool 1306 is moved to release the first end holder 118 prior to removing 2308 the first end 114 of the wire 102 .

[0062] In another further embodiment, removing 2310 the second end 116 of the wire 102 includes engaging 2502 (see FIG. 25 ) the second key tool 1406 of the end effector 1000 with the second keyhole 604 of the second end holder 120 of the wire carrier 100. At 2504, before removing 2310 the second end 116 of the wire 102, moving the second key tool 1406 to open the second end holder 120. In another further embodiment, removing 2202 the coil 110 also includes releasing 2602 ( FIG. 26 ) the fourth holding device 1016 of the end effector 1000. By bringing 2304 the end effector 1000 closer to the wire carrier 100, the fourth holding device 1016 is closer to the second coil holder 124 of the wire carrier 100. At 2604, the fourth holding device 1016 of the end effector 1000 is used to remove the coil 110 of the wire 102 from the second coil holder 124. At 2606, the fourth holding device 1016 is closed to further grip the coil 110 of the wire 102.

[0063] In another further embodiment, positioning 2204 the coil 110 includes bringing 2702 the end effector 1000 close to a predetermined location (see FIG. 27 ) such that the first holding device 1006, the second holding device 1008, and the third holding device 1010 of the end effector 1000 are close to the predetermined location of the wire assembly system 806. At 2704, the first holding device 1006, the second holding device 1008, and the third holding device 1010 of the end effector 1000 are released. At 2706, the coil 110 of the wire 102 is positioned from the first holding device 1006 of the end effector 1000 to the predetermined location. At 2708, the first end 114 of the wire 102 is positioned from the second holding device 1008 of the end effector 1000 to the predetermined location. At 2710, the second end 116 of the wire 102 is positioned from the third retaining device 1010 of the end effector 1000 to a predetermined location. In a further embodiment, positioning 2204 of the coil 110 also includes releasing 2712 the fourth retaining device 1016 of the end effector 1000. By bringing 2702 the end effector 1000 close to the predetermined location of the wire assembly system 806, the fourth retaining device 1016 of the end effector 1000 is close to the predetermined location. At 2714, the coil 110 of the wire 102 is positioned from the fourth retaining device 1016 of the end effector 1000 to a predetermined location.

[0064] In yet another embodiment, the method 1500 also includes transferring 1506 the coil 110 of the wire 102, together with the first end 114 and the second end 116, from the wire preparation system 804 to the wire carrier 100 of the wire transport system 802 using the second electromechanical manipulator 810.

[0065] In a further embodiment, transferring 1506 the coil 110 includes removing 2802 (see FIG. 28 ) the coil 110 of the wire 102, together with the first end 114 and the second end 116, from a predetermined location on the wire preparation system 804 using the end effector 1000 of the second electromechanical manipulator 810. At 2804, the coil 110 of the wire 102, together with the first end 114 and the second end 116, is placed on the wire carrier 100 of the wire transport system 802 using the end effector 1000.

[0066] In a further embodiment, removing 2802 the coil 110 includes releasing 2902 ( FIG. 29A ) the first retaining device 1006, the second retaining device 1008, and the third retaining device 1010 of the end effector 1000. At 2904, the end effector 1000 is brought close to a predetermined location on the wire preparation system 804 such that the first retaining device 1006 is close to the coil 110 of the wire 102, the second retaining device 1008 is close to the first end 114 of the wire 102, and the third retaining device 1010 is close to the second end 116 of the wire 102. At 2906, the first retaining device 1006 of the end effector 1000 is used to remove the coil 110 of the wire 102 from the predetermined location. At 2908, the first end 114 of the wire 102 is removed from the predetermined location using the second retaining device 1008 of the end effector 1000. At 2910, the second end 116 of the wire 102 is removed from the predetermined location using the third retaining device 1010 of the end effector 1000. At 2912, the second retaining device 1008 is closed to grip the first end 114 of the wire 102, and the third retaining device 1010 is closed to grip the second end 116 of the wire 102. At 2914, the first retaining device 1006 is closed to grip the coil 110 of the wire 102.

[0067] In a further embodiment, removing 2802 the coil 110 also includes partially closing 2916 the first retaining device 1006 to retain the coil 110 of the wire 102 and allow the coil 110 of the wire 102 to slide within the first retaining device 1006. At 2918, prior to closing 2814 the first retaining device 1006, the coil 110 of the wire 102 is slid within the first retaining device 1006 so that the first breakout length 302 and the second breakout length 304 are approximately equal. In another further embodiment, removing 2802 the coil 110 also includes opening 2920 the fourth retaining device 1016 of the end effector 1000. By bringing 2904 the end effector 1000 into proximity with the predetermined location of the wire preparation system 804, the fourth retaining device 1016 is in proximity to the coil 110 of the wire 102. At 2922, the coil 110 of wire 102 is removed from its position using the fourth retaining device 1016 of the end effector 1000. At 2924, the fourth retaining device 1016 is closed to further grip the coil 110 of wire 102.

[0068] In another further embodiment, positioning 2804 the coil 110 includes bringing 3002 (see FIG. 30 ) the end effector 1000 close to the wire carrier 100 of the wire transport system 802 such that the first holding device 1006 of the end effector 1000 is close to the first coil holder 108 of the wire carrier 100, the second holding device 1008 of the end effector 1000 is close to the first end holder 118 of the wire carrier 100, and the third holding device 1010 of the end effector 1000 is close to the second end holder 120 of the wire carrier 100. In 3004, the first holding device 1006, the second holding device 1008, and the third holding device 1010 of the end effector 1000 are released. At 3006, the coil 110 of the wire 102 is placed from the first holding device 1006 of the end effector 1000 into the first coil holder 108. At 3008, the first end 114 of the wire 102 is placed from the second holding device 1008 of the end effector 1000 into the first end holder 118. At 3010, the second end 116 of the wire 102 is placed from the third holding device 1010 of the end effector 1000 into the second end holder 120.

[0069] In a further embodiment, placing 3008 the first end 114 of the wire 102 includes engaging 3102 (see FIG. 31 ) a first key tool 1306 of the end effector 1000 with a first keyhole 504 of the first end holder 118 of the wire carrier 100. At 3104, prior to placing 3008 the first end 114 of the wire 102, the first key tool 1306 is moved to open the first end holder 118. In another further embodiment, placing 3010 the second end 116 of the wire 102 includes engaging 3202 (see FIG. 32 ) a second key tool 1406 of the end effector 1000 with a second keyhole 604 of the second end holder 120 of the wire carrier 100. At 3204, the second key tool 1406 is moved to release the second end holder 120 prior to placing 3010 the second end 116 of the wire 102. In another further embodiment, placing 2804 the coil 110 also includes releasing 3302 ( FIG. 33 ) the fourth holding device 1016 of the end effector 1000. By bringing 3002 the end effector 1000 into proximity with the wire carrier 100 of the wire transport system 802, the fourth holding device 1016 of the end effector 1000 is brought into proximity with the second coil holder 124 of the wire carrier 100. At 3304, the coil 110 of the wire 102 is placed from the fourth holding device 1016 of the end effector 1000 into the second coil holder 124.

[0070] In another further embodiment, transferring 1506 the coil 110 includes receiving 3402 (see FIG. 34 ) the coil 110 of wire 102 with the first end 114 and the second end 116 from the wire preparation system 804 at a predetermined location using the end effector 1000 of the second electromechanical manipulator 810. At 3404, the coil 110 of wire 102 with the first end 114 and the second end 116 is placed on the wire carrier 100 of the wire transport system 802 using the end effector 1000.

[0071] In a further embodiment, receiving 3402 the coil 110 includes releasing 3502 ( FIG. 35A ) the first retaining device 1006, the second retaining device 1008, and the third retaining device 1010 of the end effector 1000. At 3504, the end effector 1000 is brought close to a predetermined location on the wire preparation system 804 such that the first retaining device 1006 is close to the coil 110 of the wire 102, the second retaining device 1008 is close to the first end 114 of the wire 102, and the third retaining device 1010 is close to the second end 116 of the wire 102. At 3506, the coil 110 of the wire 102 is received from the predetermined location using the first retaining device 1006 of the end effector 1000. At 3508, the first end 114 of the wire 102 is received from the predetermined location using the second retaining device 1008 of the end effector 1000. At 3510, the third retaining device 1010 of the end effector 1000 is used to receive the second end 116 of the wire 102 from a predetermined location. At 3512, the second retaining device 1008 is closed to grip the first end 114 of the wire 102, and the third retaining device 1010 is closed to grip the second end 116 of the wire 102. At 3514, the first retaining device 1006 is closed to grip the coil 110 of the wire 102.

[0072] In a further embodiment, receiving 3402 the coil 110 also includes partially closing 3516 the first retaining device 1006 to hold the coil 110 of the wire 102 and allow the coil 110 of the wire 102 to slide within the first retaining device 1006. At 3518, prior to closing 3514 the first retaining device 1006, the coil 110 of the wire 102 is slid within the first retaining device 1006 so that the first breakout length 302 and the second breakout length 304 are approximately equal.

[0073] In another further embodiment, receiving 3402 the coil 110 also includes opening 3520 the fourth holding device 1016 of the end effector 1000. By bringing 3504 the end effector 1000 close to the predetermined location on the wire preparation system 804, the fourth holding device 1016 is close to the coil 110 of the wire 102. At 3522, the fourth holding device 1016 of the end effector 1000 is used to remove the coil 110 of the wire 102 from the predetermined location. At 3524, the fourth holding device 1016 is closed to further grip the coil 110 of the wire 102.

[0074] Embodiments of the wire carrier 100, end effector 1000, and method 1500 for transporting a wire 102 may be related to and employed in connection with aircraft manufacturing. Also, while aircraft embodiments are described, the embodiments and principles disclosed herein are applicable to other products in the aerospace industry and other industries, including the automotive, space, construction, and other design and manufacturing industries. Thus, in addition to aircraft, the embodiments and principles disclosed herein are applicable to various product applications in the manufacture of various types of vehicles and the construction of various types of buildings.

[0075] The above detailed description refers to the accompanying drawings, which illustrate specific embodiments described in the present disclosure. Other embodiments having other structures and operations do not depart from the scope of the present disclosure. The same reference numerals may refer to the same feature, element, or component in different drawings. Throughout this disclosure, any one of multiple items may be referred to individually, and multiple items may be referred to collectively and designated by the same reference numeral. Furthermore, in this specification, a feature, element, component, or step preceded by the word "a" or "an" does not exclude multiple features, elements, components, or steps, unless specifically stated otherwise.

[0076] Illustrative, non-exclusive examples of the subject matter of the present disclosure have been set forth above, including those that are claimed and those that are not. As used herein, a reference to an "example" means that one or more parts, structures, elements, components, features, and / or steps described in connection with that example are included in at least one aspect, embodiment, and / or implementation of the subject matter of the present disclosure. Thus, throughout this disclosure, phrases such as "one example," "another example," "one or more examples," and the like may, but do not necessarily, refer to the same example. Furthermore, features characterizing any one example may, but do not necessarily, include features characterizing any other example. Furthermore, features characterizing any one example may, but do not necessarily, be combined with features characterizing any other example.

[0077] As used herein, a system, apparatus, device, structure, article, element, component, or hardware that is "configured to" perform a particular function refers to something that can perform that particular function without any modification, and not something that could perform that particular function if modified in some way. In other words, a system, apparatus, device, structure, article, element, component, or hardware that is "configured to" perform a particular function refers to something that has been specifically selected, made, implemented, utilized, programmed, and / or designed to perform that particular function. As used herein, "configured" refers to properties that a system, apparatus, structure, article, element, component, or hardware already possesses that enable the system, apparatus, structure, article, element, component, or hardware to perform that particular function without any modification. In this disclosure, a system, apparatus, device, structure, article, element, component, or hardware that is "configured" to perform a particular function may additionally or alternatively be described as being "adapted to" and / or "operative to" perform that function.

[0078] Unless otherwise specified, the terms "first," "second," "third," etc., used herein are merely labels and do not impose any ordering, positional, or hierarchical requirements on the items referred to by these terms. Furthermore, a reference to, e.g., a "second" item does not require or exclude the presence of, e.g., a "first" item or lower-numbered items, and / or, e.g., a "third" item or higher-numbered items.

[0079] As used herein, the phrase "at least one" when used in conjunction with a list of items means that various combinations of one or more of the listed items may be used, and that only one of the listed items may be required. For example, "at least one of item A, item B, and item C" may include, but is not limited to, item A, or item A and item B. This example may also include item A, item B, and item C, or item B and item C. In other examples, "at least one of" may be, for example, but is not limited to, two item A, one item B, and ten item C; four item B and seven item C; and other suitable combinations. As used herein, the term "and / or" and the " / " symbol include any and all combinations of one or more of the associated listed items.

[0080] As used herein, terms such as "coupled," "coupled," and the like refer to two or more elements that are coupled, linked, fastened, attached, connected, in communication, or otherwise associated with one another (e.g., mechanically, electrically, fluidly, optically, electromagnetically). In various examples, these elements may be directly or indirectly associated. As one example, element A may be directly associated with element B. As another example, element A may be indirectly associated with element B, e.g., through another element C. It will be understood that not all relationships between the various elements of the present disclosure are necessarily depicted. Thus, other connections may exist than those depicted in the figures.

[0081] As used herein, the term "approximately" refers to or describes a state that is close to, but not necessarily exactly the same as, a described state that performs a desired function or achieves a desired result. As an example, the term "approximately" refers to a state that is within a certain allowable tolerance or precision, for example, within 10% of the described state. However, the term "approximately" does not exclude a state that is exactly as described. Also, as used herein, the term "substantially" refers to a described state that essentially performs a desired function or achieves a desired result.

[0082] The above-referenced Figures 1-14 may depict functional elements, features, or components thereof, but do not necessarily imply any particular structure. Accordingly, modifications, additions, and / or omissions may be made to the depicted structures. Furthermore, those skilled in the art will understand that not all of the elements, features, and / or components described and illustrated in the above-referenced Figures 1-14 need be included in every embodiment, and not all of the elements, features, and / or components described herein are necessarily depicted in each embodiment. Accordingly, some of the elements, features, and / or components described and illustrated in Figures 1-14 may be combined in various ways without including other features described and illustrated in Figures 1-14, other figures, and / or the accompanying disclosure, without such combinations necessarily being explicitly stated in this disclosure. Similarly, additional features not limited to the presented embodiments may be combined with some or all of the features illustrated and described herein. Unless otherwise expressly stated, the schematic illustrations of the embodiments depicted in the above-referenced Figures 1-14 do not imply structural limitations with respect to the illustrative embodiments. Rather, one exemplary structure is shown, with the understanding that such structure may be varied as appropriate. Accordingly, modifications, additions, and / or omissions may be made to the structure shown. Furthermore, elements, features, and / or components that serve similar or at least substantially similar purposes are labeled with like reference numerals in FIGS. 1-14, and these elements, features, and / or components will not be described in detail herein with reference to each of FIGS. 1-14. Similarly, while not all elements, features, and / or components are labeled with reference numerals in each of FIGS. 1-14, the reference numerals associated with these elements are used consistently throughout the specification.

[0083] In the above-referenced Figures 15-22, 23A-B, 24-28, 29A-B, 30-34, and 35A-B, blocks may represent operations, steps, and / or portions thereof, and lines connecting various blocks do not imply a particular order or dependency relationship between these operations or portions thereof. It should be understood that not all dependencies between the various operations disclosed are necessarily depicted. The illustrations of operations of the methods described herein in Figures 15-22, 23A-B, 24-28, 29A-B, 30-34, and 35A-B and the associated description do not necessarily dictate the order in which these operations are performed. Rather, one exemplary order is shown, but it should be understood that the order of operations can be changed as appropriate. Accordingly, illustrated operations may be modified, added, and / or omitted, and some operations may be performed in a different order or simultaneously. Furthermore, one skilled in the art will recognize that not all of the described operations need to be performed.

[0084] Furthermore, throughout this specification, reference to a feature, advantage, or similar language used herein does not imply that all features and advantages that may be realized in the embodiments disclosed herein are present in any single embodiment. Rather, reference to a feature or advantage means that the particular feature, advantage, or characteristic described in connection with an embodiment is included in at least one embodiment. Thus, references to a feature, advantage, or similar language used throughout this disclosure may, but do not necessarily, refer to the same embodiment.

[0085] Embodiments of the subject matter disclosed herein may be described in relation to an aircraft manufacturing and service method 3600 shown in FIG. 36 and an aircraft 3700 shown in FIG. 37 . In one or more embodiments, the wire carrier 100, end effector 1000, and method 1500 for transporting wires 102 of the present disclosure may be used in manufacturing an aircraft. Before production begins, the service method 3600 includes specification and design of the aircraft 3700 (block 3602) and material procurement (block 3604). During production, component and subassembly manufacturing (block 3606) and system integration (block 3608) of the aircraft 3700 may occur. The aircraft 3700 then undergoes certification and delivery (block 3610) and enters service (block 3612). During the service period, the aircraft 3700 is scheduled for routine maintenance and service (block 3614). Routine maintenance and service may include upgrading, reconfiguring, refurbishing, etc., one or more systems of aircraft 3700.

[0086] Each step of in-service method 3600 may be performed or implemented by a system integrator, a third party, and / or an operator (e.g., a customer). A system integrator may include, for example, but is not limited to, any number of aircraft manufacturers and major system subcontractors. A third party may include, for example, but is not limited to, any number of vendors, subcontractors, and suppliers. An operator may include, for example, an airline, a leasing company, a military entity, a service organization, etc.

[0087] As shown in FIG. 37 , aircraft 3700 produced by method 3600 for entering service may include an airframe 3702 having a number of high-level systems 3704 and an interior 3706. Examples of high-level systems 3704 include one or more of a propulsion system 3708, an electrical system 3710, a hydraulic system 3712, and an environmental system 3714. Any number of other systems may also be included. Additionally, while described with reference to the aerospace industry, the principles of the present disclosure may be applied to other industries, such as the automotive industry. Thus, in addition to aircraft 3700, the principles of the present disclosure may also be applied to other vehicles, such as land vehicles, sea vehicles, and space vehicles.

[0088] The wire carrier 100, end effector 1000, and method 1500 for transporting wire 102 of the present disclosure may be employed during any one or more stages of the manufacturing and service method 3600. For example, parts or subassemblies corresponding to manufacturing of parts and subassemblies (block 3606) may be similarly manufactured or produced as parts or subassemblies produced while the aircraft 3700 is in service (block 3612). Also, the systems, methods, or combinations thereof may be used, for example, during manufacturing (blocks 3606 and 3608), to substantially speed or reduce the cost of assembling the aircraft 3700. Similarly, one or more implementations of the systems or methods, or combinations thereof, may be used, for example, without limitation, during the in-service (block 3612) and / or maintenance and service (block 3614) of the aircraft 3700.

[0089] Features, advantages, and characteristics described in one embodiment may be combined in any suitable manner in one or more other embodiments. Those skilled in the art will recognize that the embodiments described herein can be practiced without one or more of the specific features or advantages of a particular embodiment. In some cases, additional features and advantages may be observed in an embodiment, and may not be present in all embodiments. Furthermore, while various embodiments of the wire carrier 100, end effector 1000, and method 1500 for transporting a wire 102 have been shown and described, modifications will occur to those skilled in the art upon reading this specification. The present application encompasses such modifications and is limited only by the scope of the claims. [Note]

[0090] The present disclosure also includes the following notes: Supplementary Note 1. A wire carrier (100) for carrying a wire (102), a support structure (104) including a front surface (106) and a rear surface (202); a first coil holder (108) secured to the front surface (106) of the support structure (104) at a first location corresponding to a coil (110) of the wire (102) and a first position (112) on the coil (110) between a first end (114) of the wire (102) and a second end (116) of the wire (102); a first end holder (118) secured to the front surface (106) of the support structure (104) at a second location corresponding to the first end (114) of the wire (102); a second end holder (120) fixed to the front surface (106) of the support structure (104) at a third location corresponding to the second end (116). Appendix 2. The wire carrier of Appendix 1, wherein the wire (102) comprises at least one of a single conductor, a twisted pair conductor, a multi-core cable, a shielded cable, an unsheathed cable, a coaxial cable, a matched impedance cable, and an optical fiber cable. Appendix 3. The wire carrier of Appendix 1 or 2, wherein the first coil holder (108) is configured to at least temporarily hold the coil (110) of the wire (102). Appendix 4. The wire carrier according to any one of Appendixes 1 to 3, wherein the first end holder (118) is configured to at least temporarily hold the first end (114) of the wire (102). Appendix 5. A wire carrier according to any one of Appendixes 1 to 4, wherein the second end holder (120) is configured to at least temporarily hold the second end (116) of the wire (102). Appendix 6. The wire carrier of any one of Appendixes 1 to 5, wherein the first location of the first coil holder (108) and the second location of the first end holder (118) define a first breakout length (302) between the first end (114) of the wire (102) and the coil (110) of the wire (102). Appendix 7. The wire carrier of any one of Appendixes 1 to 6, wherein the first location of the first coil holder (108) and the third location of the second end holder (120) define a second breakout length (304) between the second end (116) of the wire (102) and the coil (110) of the wire (102). Appendix 8. A wire carrier described in any one of Appendixes 1 to 7, wherein the first end (114) of the wire (102) and the second end (116) of the wire (102) include a terminal connection portion (122). Appendix 9. The wire carrier of Appendix 8, wherein the termination connection portion (122) includes at least one of a pin, a jack, a male pin, a socket, a female pin, a receptacle, a contact, a lug, and a connector. Supplementary Note 10: The first coil holder (108) is A wire carrier as described in any of Appendices 1 to 9, including a clamp (402) having an open state in which the clamp receives or releases the coil (110) of the wire (102), and a closed state in which the clamp grips the coil (110). Appendix 11. The wire carrier of Appendix 10, wherein the clamp (402) includes a loosely closed state in which the clamp (402) is closed enough to hold the coil (110) of the wire (102) and is open enough to allow the coil (110) to slide within the clamp (402). Note 12: The first end holder (118) A wire carrier as described in any of Appendices 1 to 11, including a clamp (502) having an open state in which the clamp (502) receives or releases the first end (114) of the wire (102), and a closed state in which the clamp (502) grips the first end (114). Appendix 13. The clamp (502) 13. The wire carrier of claim 12, further comprising a first keyhole (504) configured to be engaged by a first key tool (1306) in conjunction with moving the clamp (502) to an open state, wherein the clamp (502) is biased to a closed state and the first key tool (1306) is configured to hold the clamp (502) in an open state. Note 14: The second end holder (120) A wire carrier as described in any of Appendices 1 to 13, including a clamp (602) having an open state in which the clamp (602) receives or releases the second end (116) of the wire (102), and a closed state in which the clamp (602) grips the second end (116). Appendix 15. The clamp (602) 15. The wire carrier of claim 14, further comprising a second keyhole (604) configured to engage with a second key tool (1406) in conjunction with moving the clamp (602) to an open state, wherein the clamp (602) is biased to a closed state and the second key tool (1406) is configured to hold the clamp (602) in an open state. Appendix 16. The wire carrier described in any one of Appendixes 1 to 15, further comprising a second coil holder (124) fixed to the front surface (106) of the support structure (104) at a fourth location corresponding to a second position (126) on the coil (110) of the wire (102) opposite the first position (112) on the coil (110). Clause 17. The wire carrier of clause 16, wherein the second coil holder (124) is configured to further hold, at least temporarily, the coil (110) of the wire (102). Supplementary Note 18: The second coil holder (124) is 18. The wire carrier of claim 16 or 17, including a clamp (702) having an open state in which the clamp (702) receives or releases the coil (110) of the wire (102), and a closed state in which the clamp (702) grips the coil (110). Appendix 19. The wire carrier of Appendix 18, wherein the clamp (702) includes a loosely closed state in which the clamp (702) is closed enough to hold the coil (110) of the wire (102) and is open enough to allow the coil (110) to slide within the clamp (702). Appendix 20. A wire carrier described in any one of Appendixes 16 to 19, wherein the first location of the first coil holder (108) and the fourth location of the second coil holder (124) define the range of a central region (306) of the coil (110) of the wire (102) relative to the support structure (104), a height dimension (308) of the coil (110), and a width dimension (310) of the coil (110). Appendix 21. A wire carrier as described in any of Appendixes 1 to 20, further including an interface member (128) fixed to the upper surface (130) of the support structure (104) and extending outward to connect to a wire transport system (802), suspending the wire carrier (100) from the wire transport system (802) in conjunction with transport of the wire (102) from the wire preparation system (804) to the wire assembly system (806). Appendix 22. The wire carrier according to any one of appendices 1 to 21, further comprising a ferromagnetic member (204) fixed to the rear surface (202) of the support structure (104). Appendix 23. The wire carrier of Appendix 22, wherein the ferromagnetic member (204) is configured to attract and hold the wire carrier (100) to an electromagnet (902) in a docking station (900) for the wire carrier (100) from the time the electromagnet (902) is activated until the electromagnet (902) is deactivated. Addendum 24. The wire carrier of Addendum 22 or 23, wherein the ferromagnetic member (204) includes at least one of an iron material, a cobalt material, a steel material, a nickel material, a manganese material, a gadolinium material, and a natural magnet material. Appendix 25. A wire carrier described in any one of Appendixes 1 to 24, further comprising a protruding member (206) fixed to the rear surface (202) of the support structure (104) and protruding from the rear surface (202). Appendix 26. The wire carrier of Appendix 25, wherein the protruding member (206) is configured to be at least temporarily held by a clamping device (904) of a docking station (900) for the wire carrier (100). Appendix 27. An end effector (1000) for conveying a wire (102), comprising: a support structure (1002) including a front surface (1004) and a rear surface (1102); a first retaining device (1006) secured to the front surface (1004) of the support structure (1002) at a first location corresponding to a coil (110) of the wire (102) and a first position (112) on the coil (110) between a first end (114) of the wire (102) and a second end (116) of the wire (102); a second retaining device (1008) secured to the front surface (1004) of the support structure (1002) at a second location corresponding to the first end (114) of the wire (102); a third retaining device (1010) fixed to the front surface (1004) of the support structure (1002) at a third location corresponding to the second end (116); An end effector including an interface member (1104) fixed to the rear surface (1102) of the support structure (1002) and extending from the rear surface (1102) so as to be connectable with an electromechanical manipulator (808, 810) in conjunction with control of the end effector (1000) during transport of the wire (102). Addendum 28. The end effector of Addendum 27, wherein the wire (102) comprises at least one of a single conductor, a twisted pair conductor, a multi-core cable, a shielded cable, an unsheathed cable, a coaxial cable, a matched impedance cable, and a fiber optic cable. Addendum 29. The end effector of Addendum 27 or 28, wherein the first holding device (1006) is configured to at least temporarily hold the coil (110) of the wire (102). Appendix 30. An end effector described in any one of Appendixes 27 to 29, wherein the second holding device (1008) is configured to at least temporarily hold the first end (114) of the wire (102). Addendum 31. An end effector described in any of Addendums 27 to 30, wherein the third holding device (1010) is configured to at least temporarily hold the second end (116) of the wire (102). Addendum 32. An end effector described in any of Addendums 27 to 31, wherein the first location of the first holding device (1006) and the second location of the second holding device (1008) define a first breakout length (302) between the first end (114) of the wire (102) and the coil (110) of the wire (102). Addendum 33. An end effector described in any of Addendums 27 to 32, wherein the first location of the first holding device (1006) and the third location of the third holding device (1010) define a second breakout length (304) between the second end (116) of the wire (102) and the coil (110) of the wire (102). Appendix 34. An end effector described in any one of Appendixes 27 to 33, wherein the first end (114) of the wire (102) and the second end (116) of the wire (102) include a terminal connection portion (122). Appendix 35. The end effector of Appendix 34, wherein the termination connection portion (122) includes at least one of a pin, a jack, a male pin, a socket, a female pin, a receptacle, a contact, a lug, and a connector. Addendum 36. An end effector described in any of Addendums 27 to 35, wherein the electromechanical manipulator (808, 810) includes at least one of a robotic manipulator, a robotic arm, a collaborative robot, an automatic mechanical manipulator, a semi-automatic mechanical manipulator, a fixed-actuator tending robot, and a semi-manual robot. Appendix 37. The first holding device (1006) An end effector as described in any of Appendices 27 to 36, including a clamp (1202) having an open state in which the clamp (1202) receives or releases the coil (110) of the wire (102), and a closed state in which the clamp (1202) grasps the coil (110). Addendum 38. An end effector described in any of Addendums 27 to 37, wherein the clamp (1202) includes a loosely closed state in which the clamp (1202) is closed enough to hold the coil (110) of the wire (102) and is open enough to allow the coil (110) of the wire (102) to slide within the clamp (1202). Addendum 39. An end effector described in any of Addendums 27 to 38, further comprising a control assembly (1204) that functionally communicates with the electromechanical manipulator (808, 810) via the interface member (1104) and controls the clamp (1202) in response to communication with the electromechanical manipulator (808, 810). Appendix 40. The control assembly (1204) 40. The end effector of claim 39, comprising an actuator mechanically linked to the clamp (1202). Clause 41. The end effector of clause 40, wherein the actuator comprises at least one of a pneumatic actuator, an electric actuator, a rotary actuator, a linear actuator, and a solenoid. Addendum 42. An end effector described in any of Addendums 27 to 41, wherein the second holding device (1008) includes a clamp (1302) having an open state in which the clamp (1302) receives or releases the first end (114) of the wire (102), and a closed state in which the clamp (1302) grasps the first end (114). Addendum 43. The end effector described in Addendum 42, further comprising a control assembly (1304) that functionally communicates with the electromechanical manipulators (808, 810) via the interface member (1104) and controls the clamp (1302) in response to communication with the electromechanical manipulators (808, 810). Appendix 44. The control assembly (1304) 44. The end effector of claim 43, comprising an actuator mechanically linked to the clamp (1302). Clause 45. The end effector of clause 44, wherein the actuator includes at least one of a pneumatic actuator, an electric actuator, a rotary actuator, a linear actuator, and a solenoid. Appendix 46. 46. ​​The end effector of any one of claims 27 to 45, further comprising a first key assembly (1012) including a first key tool (1306) and configured to move the first key tool (1306) between a closed state and an open state, wherein the first key assembly (1012) is configured to engage the first key tool (1306) with a first keyhole (504) of a first end holder (118) of the wire carrier (100) in a closed state, the first end holder (118) being configured to at least temporarily hold the first end (114) of the wire (102), and the first key assembly (1012) being configured to change the first end holder (118) to an open state in conjunction with the second holding device (1008) placing the first end (114) in the first end holder (118) or removing the first end (114) from the first end holder (118). Addendum 47. The first key assembly (1012) 47. The end effector of claim 46, further comprising a control assembly (1308) that functionally communicates with the electromechanical manipulator (808, 810) via the interface member (1104) and controls the first key tool (1306) in response to communication with the electromechanical manipulator (808, 810). Appendix 48. The control assembly (1308) 48. The end effector of claim 47, comprising an actuator mechanically linked to the first key tool (1306). Clause 49. The end effector of clause 48, wherein the actuator includes at least one of a pneumatic actuator, an electric actuator, a rotary actuator, a linear actuator, and a solenoid. Appendix 50. The third holding device (1010) An end effector described in any of Appendices 27 to 49, including a clamp (1402) having an open state in which the clamp (1402) receives or releases the second end (116) of the wire (102), and a closed state in which the clamp (1402) grasps the second end (116). Addendum 51. The end effector described in Addendum 50, further comprising a control assembly (1404) that functionally communicates with the electromechanical manipulators (808, 810) via the interface member (1104) and controls the clamp (1402) in response to communication with the electromechanical manipulators (808, 810). Clause 52. The control assembly (1404) 52. The end effector of claim 51, comprising an actuator mechanically linked to the clamp (1402). Clause 53. The end effector of clause 52, wherein the actuator includes at least one of a pneumatic actuator, an electric actuator, a rotary actuator, a linear actuator, and a solenoid. Appendix 54. 54. The end effector of any one of claims 27 to 53, further comprising a second key assembly (1014) including a second key tool (1406) and configured to move the second key tool (1406) between a closed state and an open state, wherein the second key assembly (1014) is configured to engage the second key tool (1406) with a second keyhole (604) of a second end holder (120) of the wire carrier (100) in a closed state, the second end holder (120) being configured to at least temporarily hold the second end (116) of the wire (102), and the second key assembly (1014) is configured to change the second end holder (120) to an open state in conjunction with the second holding device (1008) placing the second end (116) in the second end holder (120) or removing the second end (116) from the second end holder (120). Addendum 55. The second key assembly (1014) 55. The end effector of claim 54, further comprising a control assembly (1408) that functionally communicates with the electromechanical manipulator (808, 810) via the interface member (1104) and controls the second key tool (1406) in response to communication with the electromechanical manipulator (808, 810). Appendix 56. The control assembly (1408) 56. The end effector of claim 55, comprising an actuator mechanically linked to the second key tool (1406). Clause 57. The end effector of clause 56, wherein the actuator includes at least one of a pneumatic actuator, an electric actuator, a rotary actuator, a linear actuator, and a solenoid. Addendum 58. An end effector described in any of Addendums 27 to 57, further comprising a fourth holding device (1016) fixed to the front surface (1004) of the support structure (1002) at a fourth location corresponding to a second position (126) on the coil (110) of the wire (102) opposite the first position (112) on the coil (110). Clause 59. The end effector of clause 58, wherein the fourth holding device (1016) is configured to further hold, at least temporarily, the coil (110) of the wire (102). Appendix 60. The fourth holding device (1016) 50. The end effector of claim 58 or 59, comprising a clamp (1206) having an open state in which the clamp (1206) receives or releases the coil (110) of the wire (102), and a closed state in which the clamp (1206) grips the coil (110). Addendum 61. The end effector of Addendum 60, wherein the clamp (1206) includes a loosely closed state in which the clamp (1206) is closed enough to hold the coil (110) of the wire (102) and is open enough to allow the coil (110) to slide within the clamp (1206). Addendum 62. An end effector described in Addendum 60 or 61, further comprising a control assembly (1208) that functionally communicates with the electromechanical manipulator (808, 810) via the interface member (1104) and controls the clamp (1206) in response to communication with the electromechanical manipulator (808, 810). Addendum 63. The control assembly (1208) 63. The end effector of claim 62, comprising an actuator mechanically linked to the clamp (1206). Clause 64. The end effector of clause 63, wherein the actuator includes at least one of a pneumatic actuator, an electric actuator, a rotary actuator, a linear actuator, and a solenoid. Addendum 65. An end effector described in any of Addendums 58 to 64, wherein the first location of the first holding device (1006) and the fourth location of the fourth holding device (1016) define the range of a central region (306) of the coil (110) of the wire (102) relative to the support structure (1002), a height dimension (308) of the coil (110), and a width dimension (310) of the coil (110). Addendum 66. An end effector described in any of Addendums 27 to 65, wherein the end effector (1000) is configured to, in conjunction with control by the electromechanical manipulator (808, 810) via the interface member (1104), remove the coil (110) of the wire (102) together with the first end (114) and the second end (116) at a predetermined location within the wire preparation system (804), and, in conjunction with transport of the wire (102) to the wire assembly system (806), place the coil (110) together with the first end (114) and the second end (116) on a wire carrier (100) suspended from the wire transport system (802). Addendum 67. An end effector described in any of Addendums 27 to 66, wherein the end effector (1000) is configured to receive the coil (110) of the wire (102) together with the first end (114) and the second end (116) from the wire preparation system (804) at a predetermined location in conjunction with control by the electromechanical manipulator (808, 810) via the interface member (1104), and to place the coil (110) together with the first end (114) and the second end (116) on a wire carrier (100) suspended from the wire transport system (802) in conjunction with transport of the wire (102) to the wire assembly system (806). Addendum 68. An end effector described in any of Addendums 27 to 67, wherein the end effector (1000) is configured to, in conjunction with control by the electromechanical manipulator (808, 810) via the interface member (1104), remove the coil (110) of the wire (102), together with the first end (114) and the second end (116), from a wire carrier (100) suspended from a wire conveying system (802), and place the coil (110), together with the first end (114) and the second end (116), at a predetermined location within a wire assembly system (806). Appendix 69. A method (1500) for conveying a wire (102), comprising: the wire (102) includes a first end (114) and a second end (116), and the wire preparation system (804) forms the wire (102) into a coil (110), the coil having a first breakout length (302) between the coil (110) and the first end (114) of the wire (102), and a second breakout length (304) between the coil (110) and the second end (116); The method further includes transferring (1504) the coil (110), together with the first end (114) and the second end (116), from the wire carrier (100) of the wire transport system (802) to the wire assembly system (806) using a first electromechanical manipulator (808). Addendum 70. The conveying (1502) of the wire (102) comprises: holding (1602) the coil (110) of the wire (102) with a first coil holder (108) at a first location on the wire carrier (100), the first location corresponding to a first position (112) on the coil (110) between the first end (114) and the second end (116); and holding (1604) the first end (114) of the wire (102) with a first end holder (118) at a second location on the wire carrier (100), the second location corresponding to the first end (114) and a first breakout length (302) between the coil (110) and the first end (114); 69. The method of claim 69, further comprising holding (1606) the second end (116) of the wire (102) using a second end holder (120) at a third location on the wire carrier (100), the third location corresponding to the second end (116) and a second breakout length (304) between the coil (110) and the second end (116). Note 71. The first coil holder (108) includes a clamp (402) having an open state in which the clamp receives the coil (110) of the wire (102) and a closed state in which the clamp (402) grips the coil (110), and holding (1602) the coil (110) of the wire (102) at the first location includes: receiving (1702) the coil (110) of wire (102) within the clamp (402) while the clamp (402) is in an open position; switching (1704) the clamp (402) from an open state to a closed state to hold the coil (110); Clause 71. The method of clause 70, comprising: clamping (1706) the coil (110) within the clamp (402) while the clamp (402) is in a closed position. Note 72. The clamp (402) includes a loosely closed state in which the clamp (402) is closed enough to hold the coil (110) of the wire (102) and is open enough to allow the coil (110) to slide within the clamp (402), and retaining (1602) the coil (110) of the wire (102) at the first location comprises: switching (1708) the clamp (402) from an open state to a loosely closed state; 72. The method of claim 71, further comprising: before switching (1704) the clamp (402) to a closed state, sliding (1710) the coil (110) of the wire (102) within the clamp (402) so that the first breakout length (302) and the second breakout length (304) are approximately equal. Addendum 73. The first end holder (118) includes a clamp (502) having an open state in which the clamp (502) receives the first end (114) of the wire (102) and a closed state in which the clamp (502) grips the first end (114), and holding (1606) the first end (114) of the wire (102) at the second location includes: receiving (1802) the first end (114) of the wire (102) within the clamp (502) while the clamp (502) is in an open position; switching (1804) the clamp (502) from an open state to a closed state to hold the first end (114); 73. The method of any of claims 70-72, comprising: grasping (1806) the first end (114) within the clamp (502) while the clamp (502) is in a closed position. CLAIM 74. The clamp (502) includes a first keyway (504) configured to be engaged by a first key tool (1306) in conjunction with moving the clamp (502) to an open state and returning it to a closed state, the clamp (502) is biased to a closed state and the first key tool (1306) is configured to hold the clamp (502) in an open state, and holding (1606) the first end (114) of the wire (102) at the second location comprises: engaging (1808) the first key tool (1306) with the first keyway (504); moving (1810) the clamp (502) from a closed state to an open state using the first key tool (1306) so that the first end (114) of the wire (102) can be received (1802) within the clamp (502); 74. The method of claim 73, further comprising: allowing (1812) the clamp (502) to move from an open state to a closed state in response to a corresponding movement of the first key tool (1306). Addendum 75. The second end holder (120) includes a clamp (602) having an open state in which the clamp (602) receives the second end (116) of the wire (102) and a closed state in which the clamp grips the second end (116), and holding (1606) the second end (116) of the wire (102) at the third location includes: receiving (1902) the second end (116) of the wire (102) within the clamp (602) while the clamp (602) is in an open position; switching (1904) the clamp (602) from an open state to a closed state to hold the second end (116); 75. The method of any one of claims 70-74, comprising: grasping (1906) the second end (116) within the clamp (602) while the clamp (602) is in a closed position. CLAIM 76. The clamp (602) includes a second keyway (604) configured to receive a second key tool (1406) in conjunction with moving the clamp (602) to an open state and returning it to a closed state, the clamp (602) is biased to a closed state and the second key tool (1406) is configured to hold the clamp (602) in an open state, and holding (1606) the second end (116) of the wire (102) at the third location comprises: engaging (1908) the second key tool (1406) with the second keyhole (604); moving (1910) the clamp (602) from a closed state to an open state using the second key tool (1406) so that the second end (116) of the wire (102) can be received (1902) within the clamp; 76. The method of claim 75, further comprising: allowing (1912) the clamp (602) to move from an open state to a closed state in response to a corresponding movement of the second key tool (1406). Addendum 77. The conveying (1502) of the wire (102) 77. The method of any of claims 70 to 76, further comprising holding (2002) the coil (110) of the wire (102) using a second coil holder (124) at a fourth location on the wire carrier (100), the fourth location corresponding to a second location (126) on the coil (110) opposite the first location (112) on the coil (110). Addendum 78. The second coil holder (124) includes a clamp (702) having an open state in which the clamp (702) receives the coil (110) of the wire (102) and a closed state in which the clamp (702) grips the coil (110), and holding (2002) the coil (110) of the wire (102) at the fourth location is receiving (2102) the coil (110) of wire (102) within the clamp (702) while the clamp (702) is in an open position; switching (2104) the clamp (702) from an open state to a closed state to hold the coil (110); Clause 78. The method of clause 77, comprising: clamping (2106) the coil (110) within the clamp (702) while the clamp (702) is in a closed position. Note 79. The clamp (702) includes a loosely closed state in which the clamp (702) is closed enough to hold the coil (110) of the wire (102) and is open enough to allow the coil (110) to slide within the clamp (702), and the holding (2002) of the coil (110) of the wire (102) at the fourth location is switching (2108) the clamp (702) from an open state to a loosely closed state; 79. The method of claim 78, further comprising: before switching (2104) the clamp (702) to a closed state, sliding (2110) the coil (110) of the wire (102) within the clamp (702) so that the first breakout length (302) and the second breakout length (304) are approximately equal. Addendum 80. The transferring (1504) of the coil (110) further comprises: removing (2202) the coil (110) of the wire (102), together with the first end (114) and the second end (116), from the wire carrier (100) of the wire transport system (802) using an end effector (1000) of the first electromechanical manipulator (808); A method according to any one of claims 69 to 79, comprising: placing (2204) the coil (110) of the wire (102), together with the first end (114) and the second end (116), at a predetermined location in the wire assembly system (806) using the end effector (1000). Addendum 81. Removing (2202) the coil (110) Releasing (2302) the first retaining device (1006), the second retaining device (1008), and the third retaining device (1010) of the end effector (1000); bringing the end effector (1000) close to the wire carrier (100) so that the first holding device (1006) is close to the first coil holder (108) of the wire carrier (100), the second holding device (1008) is close to the first end holder (118) of the wire carrier (100), and the third holding device (1010) is close to the second end holder (120) of the wire carrier (100); removing (2306) the coil (110) of the wire (102) from the first coil holder (108) using the first holding device (1006) of the end effector (1000); removing (2308) the first end (114) of the wire (102) from the first end holder (118) using the second holding device (1008) of the end effector (1000); removing (2310) the second end (116) of the wire (102) from the second end holder (120) using the third holding device (1010) of the end effector (1000); closing (2312) the second holding device (1008) to grip the first end (114) of the wire (102) and closing (2312) the third holding device (1010) to grip the second end (116) of the wire (102); 81. The method of claim 80, further comprising: closing (2314) the first holding device (1006) to grasp the coil (110) of the wire (102). Addendum 82. Removing (2202) the coil (110) partially closing (2316) the first retaining device (1006) to retain the coil (110) of the wire (102) and allow the coil (110) of the wire (102) to slide within the first retaining device (1006); 82. The method of claim 81, further comprising, before closing (2314) the first holding device (1006), sliding (2318) the coil (110) of the wire (102) within the first holding device (1006) so that the first breakout length (302) and the second breakout length (304) are approximately equal. Note 83. Removing (2308) the first end (114) of the wire (102) comprises: engaging (2402) a first key tool (1306) of the end effector (1000) with a first keyhole (504) of the first end holder (118) of the wire carrier (100); 83. The method of claim 81 or 82, further comprising: moving (2404) the first key tool (1306) to open the first end holder (118) before removing (2308) the first end (114) of the wire (102). Note 84. Removing (2310) the second end (116) of the wire (102) comprises: engaging (2502) a second key tool (1406) of the end effector (1000) with a second key hole (604) of the second end holder (120) of the wire carrier (100); 84. The method of any one of claims 81 to 83, further comprising, before removing (2310) the second end (116) of the wire (102), moving (2504) the second key tool (1406) to open the second end holder (120). Addendum 85. Removing (2202) the coil (110) releasing (2602) a fourth holding device (1016) of the end effector (1000), and bringing (2304) the end effector (1000) close to the wire carrier (100) so that the fourth holding device (1016) is close to the second coil holder (124) of the wire carrier (100); removing (2604) the coil (110) of the wire (102) from the second coil holder (124) using the fourth holding device (1016) of the end effector (1000); 85. The method of any of claims 81-84, further comprising closing (2606) the fourth holding device (1016) to further grip the coil (110) of wire (102). Addendum 86. The step of disposing the coil (110) (2204) includes: bringing the end effector (1000) close to the predetermined location (2702) so that the first holding device (1006), the second holding device (1008), and the third holding device (1010) of the end effector (1000) are close to the predetermined location of the wire assembly system (806); Releasing (2704) the first holding device (1006), the second holding device (1008), and the third holding device (1010) of the end effector (1000); placing (2706) the coil (110) of wire (102) from the first holding device (1006) of the end effector (1000) to the predetermined location; positioning (2708) the first end (114) of the wire (102) from the second holding device (1008) of the end effector (1000) to the predetermined location; A method as described in any of appendices 80 to 85, comprising: positioning (2710) the second end (116) of the wire (102) from the third holding device (1010) of the end effector (1000) to the predetermined location. Addendum 87. The step of disposing the coil (110) (2204) includes: and further comprising: releasing (2712) a fourth holding device (1016) of the end effector (1000), wherein by bringing (2702) the end effector (1000) close to the predetermined location of the wire assembly system (806), the fourth holding device (1016) of the end effector (1000) is close to the predetermined location; 87. The method of claim 86, further comprising: positioning (2714) the coil (110) of the wire (102) from the fourth holding device (1016) of the end effector (1000) to the predetermined location. Addendum 88. A method (1500) according to any of Addendums 69 to 87, further comprising transferring (1506) the coil (110) of the wire (102), together with the first end (114) and the second end (116), from the wire preparation system (804) to the wire carrier (100) of the wire transport system (802) using a second electromechanical manipulator (810). Addendum 89. The transferring (1506) of the coil (110) further comprises: removing (2802) the coil (110) of the wire (102), together with the first end (114) and the second end (116), from a predetermined location on the wire preparation system (804) using an end effector (1000) of the second electromechanical manipulator (810); The method of claim 88, further comprising: placing (2804) the coil (110) of the wire (102), together with the first end (114) and the second end (116), on the wire carrier (100) of the wire transport system (802) using the end effector (1000). Addendum 90. Removing (2802) the coil (110) Releasing (2902) the first retaining device (1006), the second retaining device (1008), and the third retaining device (1010) of the end effector (1000); bringing the end effector (1000) close to the predetermined location of the wire preparation system (804) so ​​that the first holding device (1006) is close to the coil (110) of the wire (102), the second holding device (1008) is close to the first end (114) of the wire (102), and the third holding device (1010) is close to the second end (116) of the wire (102); removing (2906) the coil (110) of the wire (102) from the predetermined location using the first holding device (1006) of the end effector (1000); removing (2908) the first end (114) of the wire (102) from the predetermined location using the second holding device (1008) of the end effector (1000); removing (2910) the second end (116) of the wire (102) from the predetermined location using the third holding device (1010) of the end effector (1000); closing (2912) the second holding device (1008) to grip the first end (114) of the wire (102) and closing (2912) the third holding device (1010) to grip the second end (116) of the wire (102); 90. The method of claim 89, further comprising: closing (2914) the first holding device (1006) to grasp the coil (110) of the wire (102). Addendum 91. Removing (2802) the coil (110) partially closing (2916) the first retaining device (1006) to retain the coil (110) of the wire (102) and allow the coil (110) of the wire (102) to slide within the first retaining device (1006); 91. The method of claim 90, further comprising, before closing (2814) the first holding device (1006), sliding (2918) the coil (110) of the wire (102) within the first holding device (1006) so that the first breakout length (302) and the second breakout length (304) are approximately equal. Addendum 92. Removing (2802) the coil (110) and further comprising: releasing (2920) a fourth holding device (1016) of the end effector (1000), wherein the fourth holding device (1016) is in proximity to the coil (110) of the wire (102) by bringing (2904) the end effector (1000) in proximity to the predetermined location of the wire preparation system (804); removing (2922) the coil (110) of the wire (102) from the predetermined location using the fourth holding device (1016) of the end effector (1000); 92. The method of claim 90 or 91, further comprising closing (2924) the fourth holding device (1016) to further grip the coil (110) of wire (102). Addendum 93. The step of disposing (2804) the coil (110) further comprises: bringing (3002) the end effector (1000) close to the wire carrier (100) of the wire transport system (802) so that a first holding device (1006) of the end effector (1000) is close to a first coil holder (108) of the wire carrier (100), a second holding device (1008) of the end effector (1000) is close to a first end holder (118) of the wire carrier (100), and a third holding device (1010) of the end effector (1000) is close to a second end holder (120) of the wire carrier (100); Releasing (3004) the first holding device (1006), the second holding device (1008), and the third holding device (1010) of the end effector (1000); placing (3006) the coil (110) of the wire (102) from the first holding device (1006) of the end effector (1000) into the first coil holder (108); placing (3008) the first end (114) of the wire (102) from the second holding device (1008) of the end effector (1000) into the first end holder (118); A method as described in any of appendices 89 to 92, comprising: placing (3010) the second end (116) of the wire (102) from the third holding device (1010) of the end effector (1000) into the second end holder (120). Note 94. The step of positioning (3008) the first end (114) of the wire (102) further comprises: engaging (3102) a first key tool (1306) of the end effector (1000) with a first key hole (504) of the first end holder (118) of the wire carrier (100); 94. The method of claim 93, further comprising, before positioning (3008) the first end (114) of the wire (102), moving (3104) the first key tool (1306) to open the first end holder (118). Note 95. The step of positioning (3010) the second end (116) of the wire (102) further comprises: engaging (3202) a second key tool (1406) of the end effector (1000) with a second keyhole (604) of the second end holder (120) of the wire carrier (100); 95. The method of claim 93 or 94, further comprising, before positioning (3010) the second end (116) of the wire (102), moving (3204) the second key tool (1406) to open the second end holder (120). Addendum 96. The step of disposing (2804) the coil (110) further comprises: The method further includes opening (3302) a fourth holding device (1016) of the end effector (1000), wherein by bringing (3002) the end effector (1000) close to the wire carrier (100) of the wire transport system (802), the fourth holding device (1016) of the end effector (1000) is close to the second coil holder (124) of the wire carrier (100); A method according to any one of appendices 93 to 95, further comprising: disposing (3304) the coil (110) of the wire (102) from the fourth holding device (1016) of the end effector (1000) into the second coil holder (124). Addendum 97. The step of transferring (1506) the coil (110) further comprises: receiving (3402) the coil (110) of the wire (102), together with the first end (114) and the second end (116), from the wire preparation system (804) at a predetermined location using an end effector (1000) of the second electromechanical manipulator (810); A method according to any one of appendices 88 to 96, comprising: placing (3404) the coil (110) of the wire (102), together with the first end (114) and the second end (116), on the wire carrier (100) of the wire transport system (802) using the end effector (1000). Addendum 98. The receiving (3402) of the coil (110) Releasing (3502) the first retaining device (1006), the second retaining device (1008), and the third retaining device (1010) of the end effector (1000); bringing the end effector (1000) close to the predetermined location of the wire preparation system (804) so ​​that the first holding device (1006) is close to the coil (110) of the wire (102), the second holding device (1008) is close to the first end (114) of the wire (102), and the third holding device (1010) is close to the second end (116) of the wire (102); receiving (3506) the coil (110) of the wire (102) from the predetermined location using the first holding device (1006) of the end effector (1000); receiving (3508) the first end (114) of the wire (102) from the predetermined location using the second holding device (1008) of the end effector (1000); receiving (3510) the second end (116) of the wire (102) from the predetermined location using the third holding device (1010) of the end effector (1000); closing (3512) the second holding device (1008) to grip the first end (114) of the wire (102) and closing (3512) the third holding device (1010) to grip the second end (116) of the wire (102); 98. The method of claim 97, further comprising: closing (3514) the first holding device (1006) to grasp the coil (110) of the wire (102). Addendum 99. The receiving (3402) of the coil (110) partially closing (3516) the first retaining device (1006) to retain the coil (110) of the wire (102) and allow the coil (110) of the wire (102) to slide within the first retaining device (1006); 99. The method of claim 98, further comprising, before closing (3514) the first holding device (1006), sliding (3518) the coil (110) of the wire (102) within the first holding device (1006) so that the first breakout length (302) and the second breakout length (304) are approximately equal. Appendix 100. The receiving (3402) of the coil (110) and further comprising: releasing (3520) a fourth holding device (1016) of the end effector (1000), wherein the fourth holding device (1016) is in proximity to the coil (110) of the wire (102) by bringing (3504) the end effector (1000) in proximity to the predetermined location of the wire preparation system (804); removing (3522) the coil (110) of the wire (102) from the predetermined location using the fourth holding device (1016) of the end effector (1000); 99. The method of claim 98 or 99, further comprising closing (3524) the fourth holding device (1016) to further grip the coil (110) of the wire (102).

Claims

1. A wire carrier for transporting a wire, a support structure including a front surface and a rear surface; a first coil holder secured to the front surface of the support structure at a first location corresponding to the coil of wire and a first position on the coil between the first end of the wire and the second end of the wire; a first end holder secured to the front surface of the support structure at a second location corresponding to the first end of the wire; a second end holder secured to the front surface of the support structure at a third location corresponding to the second end.

2. 10. The wire carrier of claim 1, wherein the wire comprises at least one of a single conductor, a twisted pair conductor, a multi-conductor cable, a shielded cable, an unsheathed cable, a coaxial cable, a matched impedance cable, and a fiber optic cable.

3. 2. The wire carrier of claim 1, wherein the first coil holder is configured to at least temporarily hold the coil of the wire, the first end holder is configured to at least temporarily hold the first end of the wire, and the second end holder is configured to at least temporarily hold the second end of the wire.

4. 2. The wire carrier of claim 1, wherein the first location of the first coil holder and the second location of the first end holder define a first breakout length between the first end of the wire and the coil of the wire, and the first location of the first coil holder and the third location of the second end holder define a second breakout length between the second end of the wire and the coil of the wire.

5. 2. The wire carrier of claim 1, wherein the first end of the wire and the second end of the wire include a termination connection, the termination connection including at least one of a pin, a jack, a male pin, a socket, a female pin, a receptacle, a contact, a lug, and a connector.

6. 10. The wire carrier of claim 1, wherein the first coil holder includes a clamp having an open state in which the clamp receives or releases the coil of wire and a closed state in which the clamp grips the coil.

7. 7. The wire carrier of claim 6, wherein the clamp includes a loosely closed state in which the clamp is closed enough to hold the coil of wire, yet open enough to allow the coil to slide within the clamp.

8. 2. The wire carrier of claim 1, wherein the first end holder includes a clamp having an open state in which the clamp receives or releases the first end of the wire and a closed state in which the clamp grips the first end, the clamp including a first keyhole configured to be engaged by a first key tool in conjunction with moving the clamp to the open state, the clamp being biased to the closed state and configured so that the first key tool can hold the clamp in the open state.

9. 2. The wire carrier of claim 1, wherein the second end holder includes a clamp having an open state in which the clamp receives or releases the second end of the wire and a closed state in which the clamp grips the second end, the clamp including a second keyhole configured to be engaged by a second key tool in conjunction with moving the clamp to the open state, the clamp being biased to the closed state and configured so that the second key tool can hold the clamp in the open state.

10. a second coil holder secured to the front surface of the support structure at a fourth location corresponding to a second location on the coil of wire opposite the first location on the coil; The wire carrier of claim 1 , wherein the second coil holder is configured to at least temporarily further hold the coil of wire.

11. 11. The wire carrier of claim 10, wherein the second coil holder includes a clamp having an open state in which the clamp receives or releases the coil of wire and a closed state in which the clamp grips the coil.

12. 12. The wire carrier of claim 11, wherein the clamp includes a loosely closed state in which the clamp is closed enough to hold the coil of wire, yet open enough to allow the coil to slide within the clamp.

13. 11. The wire carrier of claim 10, wherein the first location of the first coil holder and the fourth location of the second coil holder define a central region of the coil of wire relative to the support structure, a height dimension of the coil, and a width dimension of the coil.

14. 10. The wire carrier of claim 1, further comprising an interface member secured to an upper surface of the support structure and extending outwardly to connect to a wire transport system, the interface member suspending the wire carrier from the wire transport system in conjunction with transport of wire from a wire preparation system to a wire assembly system.

15. The wire carrier of claim 1 further comprising a ferromagnetic member secured to the rear surface of the support structure.

16. 16. The wire carrier of claim 15, wherein the ferromagnetic member is configured to attract and hold the wire carrier to an electromagnet in a docking station for the wire carrier from the time the electromagnet is activated until the time the electromagnet is deactivated.

17. 16. The wire carrier of claim 15, wherein the ferromagnetic member comprises at least one of an iron material, a cobalt material, a steel material, a nickel material, a manganese material, a gadolinium material, and a lodestone material.

18. The wire carrier of claim 1 further comprising a protruding member secured to and protruding from the rear surface of the support structure.

19. The wire carrier of claim 1 , wherein the protruding member is configured to be at least temporarily retained by a clamping device of a docking station for the wire carrier.

20. an end effector for conveying a wire, a support structure including a front surface and a rear surface; a first retaining device secured to the front surface of the support structure at a first location corresponding to the coil of wire and a first position on the coil between the first end of the wire and the second end of the wire; a second retaining device secured to the front surface of the support structure at a second location corresponding to the first end of the wire; a third retention device secured to the front surface of the support structure at a third location corresponding to the second end; an interface member secured to the rear surface of the support structure and extending therefrom for connection with an electromechanical manipulator for controlling the end effector during transport of the wire.

21. A method for transporting a wire using the wire carrier according to any one of claims 1 to 19, further comprising: transporting the wire from a wire preparation system to a wire assembly system using a wire transport system including the wire carrier, the wire having a first end and a second end, the wire preparation system forming the wire into a coil, the coil having a first breakout length between the coil and the first end of the wire and a second breakout length between the coil and the second end; The method further includes transferring the coil, together with the first end and the second end, from the wire carrier of the wire transport system to the wire assembly system using a first electromechanical manipulator.

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