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Precision apparatus with non-rigid, imprecise structure, and method for operating same
| Details |
Inventors: Dickerson, Stephen Lang; Book, Wayne J.; Sadegh, Nader;
Assignee: Georgia Tech Research Corporation (Atlanta, GA)
Primary Examiner: Ruggiero; Joseph
Assistant Examiner:
Attorney, Agent or Firm: Thomas, Kayden, Horstemeyer & Risley, L.L.P.
An apparatus which allows one to maintain precision placement of a manipulator which undergoes repeated controlled motions or trajectories is provided. The structure of the apparatus is compliant such that the manipulator may be displaced by forces applied to the mechanical structure. This compliance is due to a lack of precision in the fabrication of the component parts of the machine, and to a lack of rigidity due to a lightweight design. This displacement is of a greater magnitude than the precision positioning tolerance of the apparatus. Consequently, the manipulator may then be displaced outside of the positioning tolerance due to applied forces. However, it is a characteristic of the present invention, that despite the compliance of the mechanical structure of the apparatus, the positioning tolerance will be maintained. The controlled motion is accomplished by the generation of control signals by computer software running on a computer control system. The control software enables the system to run at much greater speeds while not exciting unwanted movement or vibration in the compliant mechanical structure. |
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DETAILED DESCRIPTION Briefly described, the invention provides for a non-rigid, precision placement machine and method for assembling components into a finished product.
The machine comprises an overhead linear motor or equivalent track drive system upon which a traveling head is mounted.
The head can be moved along the linear motor to a desired location.
A pallet on which the product being assembled is positioned is located on rails that extend beneath the linear motor and head.
The tracks extend at right angles to the motion of the head.
The head is adapted to be moved along the linear motor in the x direction and the pallet is adapted to be moved along the rails in a y direction.
The head is also provided with up and down or z direction motion, if necessary.
A plurality of parts or component trays or feeders are located on both sides of the tracks beneath the linear motor.
The head is adapted to be moved along the track to overlay a particular parts tray, retrieve a part from the tray, and move back to a position overlying the pallet, where the head installs the part on the products being assembled.
In order to reduce the required precision of the drives and tracks, the invention makes use of integrated vision units that judge, using imaging devices, the relative positions of the heads, component parts, and products being assembled.
Further, since components being picked up and carried by the head are suspended directly beneath the head itself, the entire assembly can be made lighter than traditional robots with cantilevered arms.
In addition, the amplification or accumulation of movement errors that is inherent in a long robotic arm is virtually eliminated in the present invention.
In addition, the apparatus disclosed is controlled via a computer control system which operates according to control software.
The control software includes a module for movement trajectory generation as well as a module for filtering of the movement trajectory to minimize unwanted system dynamics.
Also, a learning module is included that allows the system to adapt to repeated errors experienced in repeated motions
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Control Computers 
