Robotic arm
First Claim
Patent Images
1. A robotic arm for advancing adjacent a curved surface, the robotic arm comprising;
- a plurality of articulated links arranged sequentially along the arm in at least two groups, wherein a first group comprises at least three links articulated with respect to each other for relative movement substantially in a first plane only, and a second group comprises at east three links articulated with respect to each other for relative movement substantially in a second plane only, wherein an articulation is provided between the first group and the second group so that the second plane can be inclined with respect to the first plane, anda controller arranged to control movement of the links in the first group, and to control movement about the articulation between the first group and the second group for remaining a predetermined distance from the curved surface.
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Accused Products
Abstract
A robotic arm is provided, for example for inspecting a rotary machine such as a gas turbine engine. The arm has a plurality of groups of links having articulations therebetween for movement in a first plane, the groups having articulations with respect to each other for movement in a second orthogonal plane. Thus the arm can move around objects such as aerofoils in the engine, and also move up or down to remain close to the rotary surface of the machine.
54 Citations
25 Claims
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1. A robotic arm for advancing adjacent a curved surface, the robotic arm comprising;
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a plurality of articulated links arranged sequentially along the arm in at least two groups, wherein a first group comprises at least three links articulated with respect to each other for relative movement substantially in a first plane only, and a second group comprises at east three links articulated with respect to each other for relative movement substantially in a second plane only, wherein an articulation is provided between the first group and the second group so that the second plane can be inclined with respect to the first plane, and a controller arranged to control movement of the links in the first group, and to control movement about the articulation between the first group and the second group for remaining a predetermined distance from the curved surface. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A robotic arm for advancing adjacent a curved surface, the arm comprising a plurality of articulated links arranged sequentially in at least two groups, each group comprising at least three links articulated with respect to each other for relative movement substantially in a first plane, the groups being articulated with respect to each other for movement substantially in a second plane, which second plane is inclined with respect to the first plane, and a controller arranged to control movement of the links in the first plane, and to control movement of the groups in the second plane for remaining a predetermined distance from the surface, in which the tip of the arm comprises a plurality of links which are each articulated for movement in at least two planes.
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19. A method of advancing a robotic arm to reach a predetermined object through a plurality of rows of objects, the objects in each row having a known size and spacing relative to one another, and the rows being offset with respect to each other, the method comprising:
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advancing the arm between the objects in each row in turn to measure the position of at least one object in each row; withdrawing the arm; calculating the positions of all objects in all rows; calculating a path between the objects for reaching the predetermined object; and advancing the arm along the path. - View Dependent Claims (20, 21)
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22. A method of selecting a device for inspecting a rotary machine comprising a surface and a plurality of rows n, n+1, . . . of spaced objects, the objects in each row being in fixed relative positions, and the rows being in variable relative positions, the method comprising
(a) determining the positions of the objects relative to each other in each row; -
(b) determining the position for the row n+1, relative to the position of row n, which results in the least optimal path for the device between the objects in row n and n+1; (c) storing the said position of row n+1 and storing the said path; repeating steps (b) and (c) for the next adjacent row of objects; summing the said paths to determine the least optimal path through the machine, determining the required shape of the device when following the said least optimal path; and selecting a device which is suitable for following the said path. - View Dependent Claims (23, 24, 25)
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Specification