Nozzles
In order for the robot to be able to grasp a range of different size components, exchangeable nozzles are required.
Nozzle fixing
The nozzles fix to the driving spindle by friction between the nozzle and an o-ring on the spindle. As some nozzles are asymetrical, this requires the orientation of the nozzle with respect to the spindle to be fixed. This is done with small drive dogs on the side of the shaft.
Nozzle holder
A mechanical holder will be placed within the robot workspace in order to store nozzles whilst not in use. The robot should be able to automatically place a nozzle in the holder, and remove a different nozzle.
Nozzle design
Each nozzle will need features to allow the nozzle to be grasped, held by the head, and released when changing nozzles. They also require a clear surface above the nozzle which allows a controlled background for computer vision purposes.
!!!Commercial options
The current concept is to use commercial plastic pick and place nozzles. Siemens produce a suitable range, which are relatively cheap, and available in small quantities for $1-2 each on ebay for prototyping.
Siemens 714 plastic nozzle:

Drawings of range:


