In this example, one custom machine is used to assemble numerous models of industrial building brackets. Each bracket model consists of one of seven different upper-bracket halves and one of seven different bottom-bracket halves. To save money on the part-feeding equipment, Flexible Automation integrated two vision guided Epson six-axis robots with back-lit vibratory tray feeders – or flex-feeders. Quick change end-of-arm tooling is utilized to accommodate the various parts. The parts are loaded onto a rotary dial table where they are then riveted together by an air-over-oil riveter. Force and depth measurements from an integrated load-cell and LVDT are monitored for process control.