LINEAR DRIVEN X-Z ROBOT
First Claim
Patent Images
1. A linear motor drive, linear positioning system, comprising:
- a rail that defines the path of motion of the positioning system;
a first truck and a second truck that together with the rail define a linear motor;
a plurality of arms that extend between the first and second trucks to a tool, relative motion of the first and second trucks causes motion of the tool in a direction substantially perpendicular to the path of motion of the positioning system.
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Accused Products
Abstract
Systems and methods of positioning a tool using a linear motor with a plurality of stages on a single path. A single rail and a plurality of trucks containing stages can comprise a linear motor. The trucks can connect to a tool through a linkage such as a four bar linkage or a scissor jack. The global position of the stages can be manipulated to effectuate motion along the path; the relative position, velocity, and acceleration of the trucks can be manipulated to effectuate motion in another direction such as a direction perpendicular to the path.
54 Citations
20 Claims
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1. A linear motor drive, linear positioning system, comprising:
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a rail that defines the path of motion of the positioning system; a first truck and a second truck that together with the rail define a linear motor; a plurality of arms that extend between the first and second trucks to a tool, relative motion of the first and second trucks causes motion of the tool in a direction substantially perpendicular to the path of motion of the positioning system. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A method of positioning a tool using a linear motor driven, linear positioning system with a plurality of stages on a single path, comprising:
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determining a target and a location of the target, the location of the target comprising a distance in an X-direction along the path and a Z-direction; determining a relative Z-direction height difference (Ah) between a current position and the target; determining a center-to-center distance (AC) between the current position and the target; directing movement of a front stage the distance Δ
C+(∂
/2), and a rear stage a distance Δ
C+(∂
/2), where ∂
is an X-direction difference between the stages that produces the height difference Δ
h. - View Dependent Claims (16, 17, 18, 19)
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20. A system for positioning a tool relative to an object, comprising:
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means for positioning a first stage along a linear path; means for positioning a second stage along a linear path; means for connecting the first and second stages to a tool, global movement of the first and second stages in a first direction moves the tool in the first direction, and relative movement of the first and second stages moves the tool in a second direction; and means for acting upon the object.
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Specification