1. Here’s the flange for the robot. Note colors for locations of pins on interface plate. Red - Anvil Pin Blue - Other Pins Orange - Spring Pin

2. Here’s the new interface plate. Colors match previous picture. All are 10 mm high, which is also the depth of control pin hole. This is the most shallow hole in the flange. Red - Anvil Pin Blue - Other Pins Orange - Spring Pin

3. This is an overhead view of the flange and interface plate together. Colors are the same again. Blue pins locate the interface plate to the plane of the flange and the red pin constrains rotation. The orange device is a spring pin to pre-load the other pins and hold the plate in place. Red - Anvil Pin Blue - Other Pins Orange - Spring Pin Light gray circles are features on the tool flange. Two black circles are edges of flange and interface plate. Interface plate Flange

4. ANVILANVIL Interface Plate Flange PINPIN D full D rel L force L rel L full L in L pin LfLf L pin = L full + L rel + L force L f = L full + L rel + ½*L force L in = L rel + L force L in ≤ 8 mm Dimensions of Spring Pin and General Setup

5. ANVILANVIL Interface Plate Flange Actual Deformation of Spring Pin PINPIN 10 mm Deflection y is set at an initial default: Y= ½*(D full -D rel ) F