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 that resists a degree of compressibility of each compliant member when a force is applied to one of 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, wherein the alignment detector comprises at least one encoder configured to measure the angular displacement between the articulated supporting arm and the articulated measuring arm.
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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.
157 Citations
13 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 that resists a degree of compressibility of each compliant member when a force is applied to one of 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, wherein the alignment detector comprises at least one encoder configured to measure the angular displacement between the articulated supporting arm and the articulated measuring arm.
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2. 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 that resists a degree of compressibility of each compliant member when a force is applied to one of 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, wherein the alignment detector comprises a first encoder for detecting angular displacement in a selected support arm segment of the articulated supporting arm and a second encoder for detecting angular displacement of a selected measuring arm segment in the articulated measuring arm.
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3. 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 that resists a degree of compressibility of each compliant member when a force is applied to one of the articulated supporting arm and the articulated measuring arm; and at least one actuator that mechanically positions the articulated supporting arm. - View Dependent Claims (4, 5, 6, 7, 8)
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9. 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 that resists a degree of compressibility of each compliant member when a force is applied to one of the articulated supporting arm and the articulated measuring arm; a controller configured to direct positioning of the articulated supporting arm; 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; and at least one actuator that mechanically positions the articulated supporting arm as directed by the controller.
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10. 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 that resists a degree of compressibility of each compliant member when a force is applied to one of the articulated supporting arm and the articulated measuring arm; a controller configured to direct positioning of the articulated supporting arm; 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; and at least one alignment detector configured to generate alignment information characterizing the alignment of the articulated supporting arm and the alignment of the articulated measuring arm and further configured to provide the alignment information to the controller. - View Dependent Claims (11, 12, 13)
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Specification