Robotic manufacturing system with accurate control
First Claim
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1. A system for accurate large-scale manufacturing assembly operations, comprising:
- a robot mechanism which includes more than three cascaded rotary axes of movement, wherein each rotary axis has a motor associated therewith for controlled movement of the axis, wherein the robot mechanism includes an end tool to accomplish large-scale manufacturing assembly operations;
a secondary feedback system mounted in relation to the rotary joint of each of a plurality of the rotary axes, separate from and not connected to the motors associated with the axes, so as to read directly the rotary position of each axis; and
an integrated controller in a feedback arrangement for receiving secondary feedback information from each of said secondary feedback systems and using said secondary feedback information to directly control the motors for each of said axes to accurately position the end tool to specified 3-dimensional linear Cartesian coordinates from the controller relative to a large-scale assembly and to produce at least one of roll, pitch and yaw angles of the end tool to accomplish the large-scale manufacturing operations.
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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.
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Citations
10 Claims
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1. A system for accurate large-scale manufacturing assembly operations, comprising:
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a robot mechanism which includes more than three cascaded rotary axes of movement, wherein each rotary axis has a motor associated therewith for controlled movement of the axis, wherein the robot mechanism includes an end tool to accomplish large-scale manufacturing assembly operations; a secondary feedback system mounted in relation to the rotary joint of each of a plurality of the rotary axes, separate from and not connected to the motors associated with the axes, so as to read directly the rotary position of each axis; and an integrated controller in a feedback arrangement for receiving secondary feedback information from each of said secondary feedback systems and using said secondary feedback information to directly control the motors for each of said axes to accurately position the end tool to specified 3-dimensional linear Cartesian coordinates from the controller relative to a large-scale assembly and to produce at least one of roll, pitch and yaw angles of the end tool to accomplish the large-scale manufacturing operations. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A system for accurate large-scale manufacturing assembly operations, comprising:
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a robot mechanism which includes more than three cascaded rotary axes of movement, wherein each rotary axis has a motor associated therewith for controlled movement of the axis, wherein the robot mechanism includes an end tool to accomplish large-scale manufacturing assembly operations; a secondary feedback system mounted on the rotary joint of or at the output of each of a plurality of the rotary axes, without any gears or other transmission elements therebetween so as to read directly the rotary position of each axis; and an integrated controller in a feedback arrangement for receiving secondary feedback information from each of said secondary feedback systems and using said secondary feedback information to directly control the motors for each of said axes to accurately position the end tool to specified 3-dimensional linear Cartesian coordinates from the controller relative to a large-scale assembly and to produce at least one of roll, pitch and yaw angles of the end tool to accomplish the large-scale manufacturing operations.
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Specification