Automated robotic measuring system
First Claim
Patent Images
1. A positioning system comprising:
- an articulated supporting arm comprising a plurality of jointedly interconnected support arm segments moveable about a plurality of axes;
a plurality of compliant members positioned on said supporting arm;
an articulated measuring arm comprising a plurality of jointedly interconnected measuring arm segments capable of a plurality of degrees of freedom of movement and supported by said compliant members wherein said compliant members provide a yielding characteristic between the articulated supporting arm and the articulated measuring arm; and
at least one alignment detector configured to detect the alignment between the articulated supporting arm and the articulated measuring arm.
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Accused Products
Abstract
An automated coordinate measuring system comprising a measuring arm used for acquisition of geometry data that incorporates an exoskeletal structure resilient to physical perturbations including thermal changes and vibrations which may affect coordinate data acquisition. The system may be adapted to a portable platform allowing for convenient positioning and alignment of the measuring arm in a wide variety of environments.
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Citations
66 Claims
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1. A positioning system comprising:
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an articulated supporting arm comprising a plurality of jointedly interconnected support arm segments moveable about a plurality of axes; a plurality of compliant members positioned on said supporting arm; an articulated measuring arm comprising a plurality of jointedly interconnected measuring arm segments capable of a plurality of degrees of freedom of movement and supported by said compliant members wherein said compliant members provide a yielding characteristic between the articulated supporting arm and the articulated measuring arm; and at least one alignment detector configured to detect the alignment between the articulated supporting arm and the articulated measuring arm. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29)
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30. An accurate positioning system comprising:
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an articulated supporting arm comprising a plurality of jointedly interconnected support arm segments moveable about a plurality of axes; a plurality of compliant members positioned about said supporting arm; an articulated measuring arm comprising a plurality of jointedly interconnected measuring arm segments capable of a plurality of degrees of freedom of movement and supported by said compliant members wherein said compliant members provide a yielding characteristic between the articulated supporting arm and the articulated measuring arm; a controller configured to direct positioning of the articulated supporting arm; and a datastore containing information that is accessible by the controller and used to resolve the alignment of the articulated supporting arm with respect to the articulated measuring arm. - View Dependent Claims (31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59)
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60. A positioning system comprising:
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an articulated supporting arm comprising a plurality of jointedly interconnected support arm segments moveable about a plurality of axes; a plurality of compliant members positioned on said supporting arm; an articulated measuring arm comprising a plurality of jointedly interconnected measuring arm segments capable of a plurality of degrees of freedom of movement and supported by said compliant members wherein said compliant members provide a yielding characteristic between the articulated supporting arm and the articulated measuring arm; and a controller configured to direct the positioning of the articulated supporting arm; wherein, the controller directs positioning of the articulated supporting arm with respect to the articulated measuring arm to reduce the relative degree of angular deflection between the arms.
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61. A positioning system comprising:
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an articulated supporting arm comprising a plurality of jointedly interconnected support arm segments moveable about a plurality of axes; a plurality of compliant members positioned on said supporting arm; an articulated measuring arm comprising a plurality of jointedly interconnected measuring arm segments capable of a plurality of degrees of freedom of movement and supported by said compliant members wherein said compliant members provide a yielding characteristic between the articulated supporting arm and the articulated measuring arm; and a controller configured to direct the positioning of the articulated supporting arm; wherein, the controller receives information from a first and second encoder and determines the alignment of the articulated supporting arm with respect to the articulated measuring arm on the basis of the received information.
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62. A positioning system comprising:
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an articulated supporting arm comprising a plurality of jointedly interconnected support arm segments moveable about a plurality of axes; a plurality of compliant members positioned on said supporting arm; an articulated measuring arm comprising a plurality of jointedly interconnected measuring arm segments capable of a plurality of degrees of freedom of movement and supported by said compliant members wherein said compliant members provide a yielding characteristic between the articulated supporting arm and the articulated measuring arm; and a controller configured to direct the positioning of the articulated supporting arm; wherein, the controller directs positioning of the articulated supporting arm to provide assisted movement of the articulated measuring when an exerted force is applied to the articulated measuring arm.
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63. A positioning system comprising:
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an articulated supporting arm comprising a plurality of jointedly interconnected support arm segments moveable about a plurality of axes; a plurality of compliant members positioned on said supporting arm; an articulated measuring arm comprising a plurality of jointedly interconnected measuring arm segments capable of a plurality of degrees of freedom of movement and supported by said compliant members wherein said compliant members provide a yielding characteristic between the articulated supporting arm and the articulated measuring arm; and a controller configured to direct the positioning of the articulated supporting arm; wherein, the controller directs positioning of the articulated supporting arm to resist movement of the articulated measuring arm when a force is applied to the articulated measuring arm.
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64. A positioning system comprising:
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an articulated supporting arm comprising a plurality of jointedly interconnected support arm segments moveable about a plurality of axes; a plurality of compliant members positioned on said supporting arm; an articulated measuring arm comprising a plurality of jointedly interconnected measuring arm segments capable of a plurality of degrees of freedom of movement and supported by said compliant members wherein said compliant members provide a yielding characteristic between the articulated supporting arm and the articulated measuring arm; and a controller configured to direct the positioning of the articulated supporting arm; wherein, the controller directs positioning of the articulated supporting arm to resist movement of the articulated measuring arm when a torque is applied to the articulated measuring arm.
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65. A positioning system comprising:
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an articulated supporting arm comprising a plurality of jointedly interconnected support arm segments moveable about a plurality of axes; a plurality of compliant members positioned on said supporting arm; an articulated measuring arm comprising a plurality of jointedly interconnected measuring arm segments capable of a plurality of degrees of freedom of movement and supported by said compliant members wherein said compliant members provide a yielding characteristic between the articulated supporting arm and the articulated measuring arm; and a controller configured to direct the positioning of the articulated supporting arm; wherein, the controller directs characteristics selected from the group consisting of;
speed, direction, and distance for positioning of the articulated supporting arm based upon the detected alignment between the articulated supporting arm and the articulated measuring arm. - View Dependent Claims (66)
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Specification