Automated work piece center of mass identification system and method for same

• US 9,897,507 B2
• Filed: 04/17/2015
• Issued: 02/20/2018
• Est. Priority Date: 04/17/2015
• Status: Active Grant

• Current Assignee: Raytheon Company (Rtx Corporation)
• Original Assignee: Raytheon Company (Rtx Corporation)
• Inventors: Vulcano, Anthony R.
• Primary Examiner(s): Macchiarolo, Peter
• Assistant Examiner(s): JENKINS, JERMAINE L
• Application Number:
  US14/689,125
• Publication Number:
  US 20160305842A1
• Time in Patent Office: 1,040 Days
• Field of Search: None
• CPC Class Codes: B25J 11/00 Manipulators not otherwise provided for
• CPC Class Codes: B25J 13/085 Force or torque sensors B25J13/082, B25J13/084 take precedence
• CPC Class Codes: G01M 1/122 Determining position of centre of gravity
• CPC Class Codes: Y10S 901/44 inspection

Abstract

A method and system for identifying a work piece center of mass includes coupling a work piece to a manipulator assembly. The manipulator assembly includes a force and torque sensor. The work piece is positioned in at least two different orientations relative to a gravity vector with the manipulator assembly. The at least two different orientations include at least first and second orientations. In the first orientation the force and torque sensor measures a first torque and at least a first force associated with the work piece in the first orientation. In the second orientation the force and torque sensor measures a second torque associated with the work piece in the second orientation. The work piece center of mass is identified according to at least the measured first and second torques and at least the first force.

Claims

1. A method for automatically identifying a work piece center of mass comprising:

coupling a work piece to a manipulator assembly, the manipulator assembly includes a force and torque sensor configured to measure force and torque transmitted from the work piece to the manipulator assembly;

positioning the work piece in at least two different orientations relative to a gravity vector with the manipulator assembly;

the at least two different orientations include at least first and second orientations, wherein

in the first orientation the force and torque sensor measures a first torque and at least a first force associated with the work piece in the first orientation; and

in the second orientation the force and torque sensor measures a second torque associated with the work piece in the second orientation; and

identifying the work piece center of mass according to at least the measured first and second torques and at least the first force.

2. The method of claim 1, wherein the manipulator assembly includes a manipulator arm, and

positioning the work piece in at least two different orientations with the manipulator assembly includes positioning the work piece with the manipulator arm.

3. The method of claim 2 comprising coupling an effector assembly including the force and torque sensor with the manipulator arm, and wherein coupling the work piece to the manipulator assembly includes coupling the effector assembly with the work piece.

4. The method of claim 1, wherein positioning the work piece in at least two different orientations includes positioning the work piece in three or more different orientations, the three or more different orientations including the first and second orientations and a third orientation,

in the third orientation the force and torque sensor measures a third torque associated with the work piece in the third orientation, and

identifying the work piece center of mass includes identifying the work piece center of mass according to at least the measured first, second and third torques and at least the first force.

5. The method of claim 1, wherein positioning the work piece in at least two different orientations is included with moving the work piece between first and second pieces of equipment in one or more of an assembly line or a testing line with the manipulator assembly.

6. The method of claim 1 comprising reconfiguring the work piece into a second configuration with a work piece second center of mass, and

repeating positioning of the work piece in at least two different orientations with the work piece in the second configuration to measure first and second updated torques and at least one updated force, and

identifying the work piece second center of mass according to least the measured first and second updated torques and the at least one updated force.

7. The method of claim 1, wherein positioning the work piece in at least two different orientations includes positioning relative to first, second and third axes:

positioning the work piece in the first orientation with a zero moment around the first axis to align the work piece center of mass with one of the second or third axes; and

positioning the work piece in the second orientation with a zero moment around the second axis to align the work piece center of mass with one of the first or third axes different from the second axis.

8. The method of claim 7, wherein in the first orientation measuring the first torque and at least the first force includes:

measuring a weight with the force and torque sensor,

measuring the first torque around one of the third or second axes unaligned with the work piece center of mass, and

wherein in the second orientation measuring the second torque includes measuring the second torque around one of the third or first axes unaligned with the work piece center of mass.

9. The method of claim 8, wherein identifying the work piece center of mass includes:

determining a first location of the work piece center of mass along the first axis based on the measured first torque and the measured weight,

determining a second location of the work piece center of mass along the second axis based on the measured second torque and the measured weight, and

indexing the work piece center of mass according to the determined first and second locations.

10. The method of claim 1, wherein in the second orientation the force and torque sensor measures the second torque and a second force, and

identifying the work piece center of mass according to at least the measured first and second torques and at least the first force includes identifying the work piece center of mass according to at least the measured first and second torques and at least the first and second forces.

11. A system configured for manipulation of a work piece and determination of a work piece center of mass comprising:

a manipulator assembly, the manipulator assembly including a work piece interface configured to grasp and hold a work piece while the manipulator assembly moves the work piece into at least two different orientations;

a force and torque sensor coupled with the manipulator assembly, the force and torque sensor configured to measure force and torque transmitted from the work piece to the manipulator assembly; and

a center of mass determination module in communication with the manipulator assembly and the force and torque sensor, the center of mass determination module includes;

a manipulation element, the manipulation element configured to move the manipulator assembly and the work piece into the at least two different orientations relative to a gravity vector,

a force and torque measurement element configured to measure the force and torque of the work piece at each of the at least two different orientations with the force and torque sensors, and

an identification element in communication with the force and torque measurement element, the identification element configured to identify the work piece center of mass according to force and torque measurements conducted with the work piece at the at least two different orientations.

12. The system of claim 11, wherein the manipulator assembly includes a manipulator arm.

13. The system of claim 12, wherein the manipulator assembly includes at least one effector assembly configured for coupling with the manipulator arm, and the at least one effector assembly includes the force and torque sensor.

14. The system of claim 13, wherein the effector assembly transitions between at least two effector configurations:

in a first configuration the manipulator arm is coupled with the effector assemblya manipulator interface of the effector assembly, and

in a second configuration the effector assembly coupled with the manipulator ami is coupled with the work piece at a work piece interface of the effector assembly with a mechanical latch of the effector assembly.

15. The system of claim 14, wherein the mechanical latch includes pneumatic operated fasteners.

16. The system of claim 13, wherein the effector assembly includes a data and power link in communication with the center of mass determination module, the data and power link configured to provide power and data communication between the force and torque sensor and the center of mass determination module.

17. The system of claim 12, wherein the manipulator assembly includes a plurality of effector assemblies selectively coupled with the manipulator arm, each of the effector assemblies including respective force and torque sensors, the respective force and torque sensors of each of the effector assemblies having different force and torque operating ranges.

18. The system of claim 11, wherein the manipulation element is configured to move the work piece between first and second pieces of equipment in one or more of an assembly line or a testing line with the manipulator assembly, and the movement between the first and second pieces of equipment includes the at least two different orientations.

19. The system of claim 11, comprising a data and power link in communication with the work piece and the center of mass determination module, the data and power link is configured to operate at least a portion of work piece.

20. The system of claim 19, wherein the center of mass determination module is configured to reconfigure the work piece into a second configuration with a work piece second center of mass different from the work piece center of mass, and

the identification element is configured to identify the work piece second center of mass according to force and torque measurements conducted with the work piece at the at least two different orientations and in the second configuration.

21. An effector assembly to identify a work piece center of mass, effector assembly comprising:

a manipulator interface configured to couple with a manipulator arm, the manipulator interface includes;

a mechanical latch configured to interfit with the manipulator arm, and

a data and power link;

a work piece interface coupled with the manipulator interface, the work piece interface includes a second mechanical latch configured to interfit with the work piece and statically couple the work piece to the work piece interface; and

a force and torque sensor between the manipulator interface and the work piece interface, the force and torque sensor configured to measure force and torque between the manipulator and work piece interfaces.

22. The effector assembly of claim 21, wherein one or more of the mechanical latch and the second mechanical latch include a plurality of pneumatic operated fasteners, the plurality of pneumatic operated latches includes:

at least one effector pneumatic port configured for communication with at least one manipulator arm pneumatic port, and

one or more latch bearings configured for pneumatic operation through the at least one effector pneumatic port.

23. The effector assembly of claim 22, wherein the manipulator interface includes a latch collar extending around an arm reception socket, the latch collar includes the mechanical latch.

24. The effector assembly of claim 23, wherein the data and power link and the at least one pneumatic port are coupled with the latch collar.

25. The effector assembly of claim 21, wherein the work piece interface includes a second data and power link configured for communication with the work piece, and the second data and power link automatically interfaces with the work piece with interfitting of the work piece by the second mechanical latch.

26. The effector assembly of claim 21, wherein the data and power link automatically interfaces the force and torque sensor with the manipulator arm with interfitting of the mechanical latch with the manipulator arm.

27. The effector assembly of claim 21 comprising the manipulator arm.