ROBOTIC MANUFACTURING SYSTEM WITH ACCURATE CONTROL

• US 20110098852A1
• Filed: 10/22/2009
• Published: 04/28/2011
• Est. Priority Date: 10/22/2009
• Status: Active Grant

• Current Assignee: Electroimpact Incorporated
• Original Assignee: Electroimpact Incorporated
• Inventors: DeVlieg, Russell C.
• Granted Patent: US 8,989,898 B2
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: B25J 13/088 with position, velocity or acceleration sensors

Abstract

A robot mechanism for controlling the position of a machine tool in a large-scale manufacturing assembly includes six rotary axes and one linear axis. Secondary feedback systems are included on at least several of the axes. A controller receives secondary feedback information and uses it to control the position of the machine tool within an accuracy of ±0.3 mm.

Claims

1. A system for controlling the position of an end tool in a large-scale manufacturing assembly, comprising:

a robot mechanism which includes at least three cascaded rotary axes of movement;

a secondary feedback system on at least one of the rotary axes; and

a controller for receiving secondary feedback information from said secondary feedback system or systems and using said secondary feedback information to control the position of the end tool.

2. The system of claim 1, wherein the system has an angular accuracy of 0.05 arcminute relative to a desired angle for each axis joint having secondary feedback.

3. The system of claim 1, wherein the robot mechanism has six rotary axes, at least two of which include secondary feedback systems.

4. The system of claim 1, wherein the manufacturing assembly is an aerospace assembly.

5. The system of claim 1, wherein the robot mechanism includes six rotary axes and one linear axis, all of which have secondary feedback systems.

6. The system of claim 1, wherein the secondary feedback system is an optical encoder.

7. The system of claim 1, wherein the secondary feedback system is an inductive encoder.

8. The system of claim 1, wherein the secondary feedback system is a magnetic encoder.

9. The system of claim 1, wherein the secondary feedback system is a rotary or angle encoder using a resolver.