Robotic part forming components and systems

Abstract

Various components and system are described herein, which may be used for robotic part forming. Example components and systems include roller tool end effectors, mechanical clamps, mechanical clamping systems, deployable robotic systems, and tool holder assemblies.

Description

ROBOTIC PART FORMING COMPONENTSAND SYSTEMSINVENTORS:Aaron KeitJames George Selin Kyle Hickey Mark Anders Edward MehrCROSS-REFERENCE TO RELATED APPLICATIONS{0001 ] This application claims priority to, and the benefit of, U.S. Provisional Patent Application Serial No. 63 / 594,922, “Sheet Part Forming Components and Methods,” filed October 31, 2023, which is incorporated by reference. This application claims priority to, and the benefit of, U.S. Provisional Patent Application Serial No. 63 / 681,644, “Roller Tool For Part Forming,” filed August 9, 2024, which is incorporated by reference. This application claims priority to, and the benefit of, U.S. Nonprovisional Patent Application Serial No. 18 / 931,445, “ROLLER TOOL FOR PART FORMING,” filed October 30, 2024, which is incorporated by reference. This application claims priority to, and the benefit of, U.S. Nonprovisional Patent Application Serial No. 18 / 931,362, “HORIZONTAL CLAMPING SYSTEM,” filed October 30, 2024, which is incorporated by reference. This application claims priority to, and the benefit of, U.S. Nonprovisional Patent Application Serial No. 18 / 931,404, “VERTICAL CLAMPING SYSTEM,” filed October 30, 2024, which is incorporated by reference. This application claims priority to, and the benefit of, U.S. Nonprovisional Patent Application Serial No. 18 / 931,486, “MECHANICAL CLAMP WITH COMPRESSIBLE LINK,” filed October 30, 2024, which is incorporated by reference. This application claims priority to, and the benefit of, U.S. Nonprovisional Patent Application Serial No. 18 / 931,560, “DEPLOYABLE ROBOTIC SYSTEM,” filed October 30, 2024, which is incorporated by reference. This application claims priority to, and the benefit of, U.S. Nonprovisional Patent Application Serial No. 18 / 931,286, “TOOL CHANGER FOR ROBOTIC ARM,” filed October 30, 2024, which is incorporated by reference.TECHNICAL FIELD

[0002] This disclosure relates generally to robotic part forming components and systems.BACKGROUNDDESCRIPTION OF RELATED ART10003] Sheet metal parts are used in a multitude of applications and across many different industries (e.g., in aerospace, automotive, biomedical, and consumer electronics industries). Sheet metal part forming is the manufacturing process through which sheet metal parts are made.However, sheet metal part forming is very tool intensive, which makes it costly and time consuming to fabricate sheet metal parts. A method for sheet metal part forming is stamping. In stamping, a series of female and male dies that are specific to each design and material are fabricated (tooling). A sheet metal part is formed in a press machine by sandwiching sheet metal between the two dies with force. Stamping requires a large investment in dies and is not accommodating to changes in design and material, making the sheet metal forming process expensive and time-consuming.BRIEF DESCRIPTION OF THE DRAWINGS

[0004] Embodiments of the disclosure have other advantages and features which will be more readily apparent from the following detailed description and the appended claims, when taken in conjunction with the examples in the accompanying drawings, in which:

[0005] Figure (FIG.) 1 is a perspective view of a robotic setup for part forming, according to an embodiment.

[0006] FIG. 2A is block diagram of a model, according to an embodiment.

[0007] FIG. 2B is a block diagram of a part forming process, according to an embodiment.

[0008] FIG. 3 is an image from a simulated part forming process, according to an embodiment.10009] FIG. 4 is a perspective view of a robotic setup with optical trackers, according to an embodiment.

[0010] FIG. 5A is a perspective view of a robot arm with a scanner and load sensor, according toan embodiment.[00111 FIG. 5B is an image generated using scanner data, according to an embodiment.

[0012] FIG. 6 includes plots of different forming paths to form a cone, according to an embodiment.

[0013] FIGS. 7A-7D illustrate a forming process, according to an embodiment.

[0014] FIGS. 8A-8B are perspective views of first and second roller tools, according to some embodiments.1 0151 FIG. 9 is a perspective view of a frame holding a sheet, according to an embodiment.

[0016] FIG. 10A is a perspective view of a robot arm with a stylus performing a forming operation, according to an embodiment.

[0017] FIG. 10B is a perspective view of a robot arm with a trimming performing a trimming operation, according to an embodiment.

[0018] FIG. 10C is a perspective view of a robot arm with a hemming performing a hemming operation, according to an embodiment.

[0019] FIG. 10D is a perspective view of a tool rack holding a plurality of tools, according to an embodiment.

[0020] FIG. 11 illustrates components of an ultrasonic vibration system, according to an embodiment.

[0021] FIG. 12 is a side view of an ultrasonic end effector, according to an embodiment.

[0022] FIG. 13 is a perspective of a third roller tool, according to an embodiment.

[0023] FIG. 14 is a perspective of fourth roller tool, according to an embodiment.

[0024] FIG. 15 includes images of two different parts made using a same part design and different forming techniques, according to an embodiment.[0(1251 FIGS. 16A-16B are block diagrams of other models, according to some embodiments.

[0026] FIG. 17A is a diagram of a roller tool with a ball in a socket of a support, according to one or more embodiments.

[0027] FIGS. 17B-17S are example diagrams of different embodiments of the roller tool in FIG. 17A.

[0028] FIG. 18 is a block diagram illustrating components of an example machine able to readinstructions from a machine-readable medium and execute them in a processor, according to an embodiment.

[0029] FIG. 19 is a diagram of an example roller tool with a flow fuse.

[0030] FIG. 20 is a diagram of plots illustrating load distribution for spherical and aspherical sockets.[00311 FIG. 21 is a perspective view diagram of a frame configured to hold an object.[ 00321 FIGS. 22A-22G are diagrams of an example horizontal clamping system that may be installed on a frame in a horizontal orientation, according to an embodiment.

[0033] FIGS. 23A-23I are diagrams of an example vertical clamping system that may be installed on a frame in a vertical orientation, according to an embodiment.

[0034] FIGS. 24A-24K are diagrams of a mechanical clamp, according to an embodiment.100351 FIG. 25 is a diagram of multiple clamps, according to an embodiment.

[0036] FIG. 26 is a diagram of an arrangement of clamps on a frame, according to an embodiment.

[0037] FIG. 27 is a diagram of another mechanical clamp, according to an embodiment.

[0038] FIGS. 28A-28E are diagrams of a first example deployable robotic system, according to an embodiment.10039] FIGS. 29A-29K are diagrams of the first example deployable robotic system unfolding, according to an embodiment.

[0040] FIG. 30 is series of side view diagrams of a container of another deployable robotic system, according to an embodiment.10041 ] FIGS. 31 A-3 IB are diagrams of another example deploy able robotic system, according to an embodiment.

[0042] FIG. 32 is a diagram of another example deployable robotic system, according to an embodiment.[00431 FIG. 33 is a diagram of another example deployable robotic system, according to an embodiment.

[0044] FIGS. 34A-34F are diagrams of another example deployable robotic system, according to an embodiment.10045] FIG. 35 is a table of example external dimensions, permissible tolerances, and ratings for intermodal freight shipping containers.

[0046] FIG. 36 is a diagram of an robotic system, according to an embodiment.

[0047] FIGS. 37A-37F are diagrams of a tool, a tool holder, and a tool holder assembly, according to an embodiment.DETAILED DESCRIPTION

[0048] The Figures (FIGS.) and the following description relate to preferred embodiments by way of illustration only. It should be noted that from the following discussion, alternative embodiments of the structures and methods disclosed herein will be readily recognized as viable alternatives that may be employed without departing from the principles of what is claimed.

[0049] Reference will now be made in detail to several embodiments, examples of which are illustrated in the accompanying figures. The figures depict embodiments of the disclosed system (or method) for purposes of illustration only. One skilled in the art will readily recognize from the following description that alternative embodiments of the structures and methods illustrated herein may be employed without departing from the principles described herein.CONFIGURATION OVERVIEW

[0050] Some embodiments relate to various roller tool end effectors that may be used to form a part in an initial geometry into a desired geometry. A roller tool includes a ball in a socket of a support. Example features for these roller tools include beveled edges, relieved areas in the socket, channels for fluids, covers, and magnets.[00511 In a first embodiment a system is configured to form a part in an initial geometry into a desired geometry, the system including: a roller tool; and a robot arm configured to: (a) press the roller tool onto a surface of the part and (b) move the pressed roller tool along the surface of the part to form the desired geometry, wherein the roller tool includes: a ball; and a support with a socket that receives the ball and enables the ball to rotate in the socket, the support including a channel configured to carry fluid through the support toward the ball or away from the ball, the socket configured to, responsive to the ball being pressed onto the surface above a threshold pressure, deform such that contact area of the ball with the socket increases.100521 In a second embodiment a system is configured to form a part in an initial geometry into a desired geometry, the system including: a roller tool; and a robot arm configured to: (a) press the roller tool onto a surface of the part and (b) move the pressed roller tool along the surface of the part to form the desired geometry, wherein the roller tool includes: a ball; and a support with a socket that receives the ball and enables the ball to rotate in the socket, the socket configured to, responsive to the ball being pressed onto the surface above a threshold pressure, deform such that contact area of the ball with the socket increases.100531 In a third embodiment a system is configured to form a part in an initial geometry into a desired geometry, the system including: a roller tool; and a robot arm configured to: (a) press the roller tool onto a surface of the part and (b) move the pressed roller tool along the surface of the part to form the desired geometry, wherein the roller tool includes: a ball; and a support with a socket that receives the ball and enables the ball to rotate in the socket, the support including a channel configured to carry fluid through the support toward the ball or away from the ball.

[0054] Some embodiments relate to a mechanical clamp or a clamping system. These clamps and clamping systems may be part of a system for robotic sheet forming as described herein.10055] In a first example, a mechanical clamping system includes: a bottom clamp bar with holes and a top surface configured to interface with an object to be held; top clamp bars adjacent to each other and arranged along a portion of the bottom clamp bar, the top clamp bars having bottom surfaces configured to interface with the object to be held, the top clamp bars coupled with the bottom clamp bar through fastening members passing between respective holes of the top clamp bars and the holes of the bottom clamp bar; and pins coupled to bottom surfaces of the top clamp bars or top surfaces of the bottom clamp bar, the pins forming pivot points for bottom surfaces of the top clamp bars to pivot toward or away from the top surface of the bottom clamp bar.

[0056] In a second example, a mechanical clamping system includes: a bottom clamp bar with a top surface configured to interface with an object to be held; a top clamp bar with a bottom surface configured to interface with the object to be held; a fastening member that passes through a first hole in the top clamp bar and a second hole in the bottom clamp bar; a pivoting receiving member coupled to a portion of the fastening member below the top surface of the bottom clamp bar; and a pivoting pin arranged below the top surface of the bottom clamp bar and engaged with a side of the pivoting receiving member to form a pivot point enabling the fastening member to pivot about the pivot point.100571 In a third example, a mechanical clamp is configured to hold an object, the mechanical clamp including: an actuator having an end that is movable; a base link with a first link end configured to be movably coupled to a link pivot point and with a second link end movably coupled to the end of the actuator, movement of the end of the actuator to cause the second link end to rotate about the link pivot point; a clamp arm including: a clamp interface configured to interface with a surface of the object to be held; a first arm coupling element; and a second arm coupling element mounted to a clamp pivot point, the first arm coupling element and the clamp interface configured to rotate about the clamp pivot point; and a compressible link with a spring configured to compress along a compression axis, the compressible link coupling the second link end with the first arm coupling element, rotation of the second link end about the link pivot point to cause the compressible link to exert force against the first arm coupling element.[0058| In a fourth example, a clamping system includes: a set of two or more mechanical clamps, at least one mechanical clamp of the set including: an actuator having an end that is movable; a base link with a first link end coupled to a link pivot point and a second link end coupled to the end of the actuator, movement of the end of the actuator causing the second link end to rotate about the link pivot point; a clamp arm including: a clamp interface configured to interface with an object to be held; a first arm coupling element; and a second arm coupling element mounted to a clamp pivot point, the first arm coupling element and the clamp interface configured to rotate about the clamp pivot point; and a compressible link configured to compress along a compression axis, the compressible link coupling the second link end with the first arm coupling element, rotation of the second link end about the link pivot point causing the compressible link to exert force against the first arm coupling element; and a control system configured to control the set of clamps.

[0059] Some embodiments relate to deployable robotic systems, which may include or be part of systems for robotic sheet forming. In an embodiment a deployable robotic system includes: a set of frames with coupler elements coupled together to form one or more pivot points, the set of frames configured to (a) fold into a first structure having one or more external dimensions of an intermodal freight shipping structure and (b) unfold into a part of a robotic part forming system including: a robotic arm with a base coupled to a first frame of the set of frames, the robotic arm including an actuator system configured to control motion of the robotic arm through space.

[0060] Some embodiments relate to tool holder assemblies, which may be part of a system for robotic sheet forming. In an embodiment a robotic system includes: a robot arm; a tool; a toolholder; and a tool holder assembly coupled to an end of the robot arm and configured to hold the tool holder during operation of the robotic system to form a machined part, the tool holder assembly including: an internal cavity; a drawbar in the internal cavity and extending through a tunnel at a first cavity end of the internal cavity; a spring positioned in the internal cavity to press or pull the drawbar away from the tunnel and toward a second cavity end opposite the first cavity end; a piston in the internal cavity and positioned between the drawbar and the second cavity end; and a port configured to allow fluid to enter the internal cavity between the piston and the second cavity end.ROBOTIC SHEET METAL PART FORMING(00611 Increasing the speed and decreasing the cost to manufacture sheet metal parts is desirable for enhancing product development in all stages of design and manufacturing. In light of this, some embodiments relate to an intelligent machine learning-based system that automates object process parameter generation for real-time control of novel robotic forming of sheet metal, plastics, polymers, and composite parts. Relative to conventional techniques, the disclosed (e.g., fast forming) techniques may enable faster prototyping and may enable rapid customization of mass- produced products. Agile production or prototyping in turn enables development of better-quality products and streamlining production. It may also increase industrial competitiveness in both mature and emerging markets by reducing the time and capital used for developing new components. The benefits may extend further for “lightweighting” strategies employed in various industries (e.g., aerospace and automotive) that want to move towards lighter and higher strength alloys but are slowed down by testing of these alloys. For simplicity, the below descriptions refer to forming parts from sheet metal. However, as indicated above, embodiments described herein may be applicable to forming parts from other materials, such as plastics, polymers, and composites.

[0062] Robotic sheet metal part forming overcomes the restrictions of the traditional methods by reducing or removing fabrication of tooling and dies from the production process. Robotic sheet part forming is a sheet metal part forming technique where a sheet is formed into a desired geometry by a series of (e.g. small) incremental deformations applied by a robot. For example, the robot is outfitted with a stiff stylus that delivers deformations to the sheet. Multiple robots may be used in the process to provide more accurate control of the deformations.10063] FIG. 1 illustrates an example embodiment of a setup for robotic sheet metal part forming.Two robots 100A and 100B face each other on respective rails 105 A and 105B on opposite sides ofthe sheet metal 110. The sheet metal is supported by a frame 115 (also referred to as a fixture). Specifically, edges of the sheet metal are coupled (e.g., clamped) to the frame to hold the sheet metal in place. The sheet metal is fixed between the two robots to allow easy access from both robots to opposite sides of the sheet. The robots may be high payload industrial robotic arms that can exert forces sufficient to deform the sheet metal (e.g., up to 20,000 N). The amount of force exerted may depend on the material strength and thickness of the sheet. For example, for 2mm 5xxx aluminum (including aluminum alloys), the peak forces may be 2,000N. In another example, for high strength martensitic steel, the peak forces may be 20,000N. The amount of force may also depend on process parameters. For example, there may be a tradeoff between time duration and force (e.g., a 1mm stainless steel part takes 4 hours to form with a peak force of 4,000N but it takes 8 hours to form if the peak force is 3,000N). The robots may comprise an articulated 6-axis robotic arm (e.g., arm 120) capable of moving a tool (e.g., tool 125) (also referred to as an end effector) attached to the end of the arm in a three-dimensional space according to 6 degree of freedom motion. The arm may include an actuator system configured to move the robot in space. For example, each segment of the robot arm includes an actuator to move it relative to another arm segment. The end of the robot arm includes a tool holder (e.g., tool holder 130) that enables one or more selectable types of tools to be attached. The tools can include, for example, a hard stylus having ends of varying diameters, shapes, or materials, a roller tool as described below, a spindle tool, a laser tool, a plasma torch, a cutting tool, or a hole making tool. The robots are also slidable along the rails to enable the robots to operate over a wide range of sheet metal sizesand sizes of the part being fabricated. For example, the part can be as small as a few cubic inches or as big as a few cubic feet (in the volume it occupies). The robot’s arms may be controlled by a controller (e.g., an external computation system) that takes into account the geometry of the final part and signals from one or more various sensors installed on the robot. The sensors may include, for example, accelerometers, gyroscopes, pressure sensors, or other sensors for detecting motion, position, and interactions of the robot with the sheet metal.

[0064] The use of two robots (one on each side of the sheet) may provide several advantages. For example, if only a single robot is used, the sheet may globally deform (instead of locally deform). Thus, using two robots may enable localized deformations. A second robot (also referred to as a support robot) may reduce or prevent tearing of the part by providing supporting pressure on the opposite side of the part. The location of the robots (and their end effectors) with respect to eachother may be based on the design of the part and the material and thickness of the sheet. These locations may be determined by a model (described further below). An example of the advantages of two robots is illustrated in FIG. 15. FIG. 15 includes a part design 1505 that illustrates the design of a part to be formed. The images on the right illustrate parts formed based on the design 1505. The bottom right image illustrates a part 1510 formed using only one robot and the top right image illustrates apart 1515 formed using two robots. As illustrated, part 1515 includes more details and more closely resembles the part in 1505. Additionally, the part 1501 includes a tear 1520.100651 A controller (also “control system”) may receive and process sensor data from the sensors to determine the proper parameters (e.g., joint angle values for each joint of the robotic arm) and control the robot arms accordingly. In some embodiments, the robots are controlled to pinch or otherwise apply pressure to the sheet metal with a hard implement (e.g., a stylus) or other tool to form the sheet of metal in accordance with a program applied by the controller to result in a desired geometry. For example, the program controls the robot arms to move in a particular sequence and apply the tool to the sheet metal according to particular programmed parameters at each step (e.g., time step) of the sequence to achieve a programmed geometry. The program (via the robotic arms) may cause the different applied tools to bend, pinch, cut, heat, seam, or otherwise form the metal in accordance with the program.

[0066] An example part forming process is illustrated in FIGS. 7A-7D. The FIGS, include a sheet 700 and a stylus 705 (e.g., coupled to a robot arm). In FIG. 7B the stylus is applied to the sheet. The result is a deformation 710. FIGS. 7C and 7D illustrate larger deformations that result from the stylus being applied to different locations on the sheet (e.g., in a spiral pattern). To facilitate the deformation into a desired geometry (e.g., a cone), a second tool (e.g., coupled to a second robot arm) may be applied to the opposite surface of the sheet.CONTROLLER AND MODELJ 00671 The controller determines the process parameters to achieve the desired robotic forming operations. Parameters such as the path of the robotic forming tool during the process, its speed, geometry of the forming tool, amount of force, angle and direction of the forming tool, clamping forces of the sheet, etc. may have direct but nonlinear effects on the final geometry. The part forming process may include a set of time steps, where each step describes parameters values for one or more parameters. The part forming process may be iterative. Thus, by executing the systemaccording to the parameter values at each time step, the controller may form the part described in the input design. The parameters values may be determined by the model.

[0068] The disclosed robotic system may achieve real-time adaptive control of a part forming process. The method may start with an input design of a part and a (e.g., statistical) model that is generated using a training data set. The training data set may include data from simulation data, and physical process characterization data (such as an in-process inspection or post-build inspection from previously formed parts or geometries). An in-process inspection may include inspecting a part during the forming process. For example, a scanning sensor records the shape of the part as it is being formed. In another example, an eddy current sensor detects defects like cracks. In another example, a force sensor measures the forces applied to the part. A post-build inspection is intended to gather information on a fully formed part. A post-build inspection may include similar inspection techniques as an in-process inspection (e.g., inspecting a part using a scanning sensor or eddy current sensor). However, a post-build inspection may include inspection techniques not performed while the part is being formed (e.g., due to practicality). For example, a fully formed part may be inspected using an x-ray machine.

[0069] FIG. 2A is a block diagram of an example model 200. As indicated above, the model may be a machine learned statistical model. The model receives one or more parameters 205 to be applied at time step t and the state 210 of the part at time step t-1. The state may refer to the geometry of the part. The model outputs the state 215 of the part at time step t. Thus, for a given state, the model can predict how the part will respond to the application of various parameters. More generally, the model may be used to predict how a material will deform when it goes through a programmed forming process (e.g., over multiple time steps)

[0070] A state of the part may be described by a mesh. The mesh may be a graph of coupled nodes, where each node represents a physical point of the part metal. Each node may be described by the following variables: X, Y, Z, Flz, Fix, Fly, F2z, F2x, F2y, thickness, dx, dy, and dz. X, Y, and Z represent the location of the node in space. Thickness indicates the sheet thickness at that node. Each node may be coupled to neighboring nodes (e.g., three neighbors). These coupled nodes represent the part in cartesian space. Flz, Fix, and Fly represent the force that one of the robots (e.g., robot 1) is applying at that node, and F2z, F2x, F2y represent the force another robot (e.g., robot 2) is applying at that node. Dx, dy, and dz represent the size of movements capable at a node if the robots pull back from the part at this time (e.g., they capture the elastic strain of the material).100711 The model can be used to determine the process parameters (e.g., in real time or offline).This method automates the generation of parameters for the robotic forming process (further described in the next paragraph). Due to the optimization process, the generated parameters may not be conceivable by engineers.

[0072] After the model is determined (e.g., by a training process), optimization techniques may be used to determine parameters to apply at each (e.g., time) step of the part forming process to create the intended part geometry. For example, for a given time step, the model is applied to various input parameter values according to an optimization technique to determine which parameter values will result in a desired geometry (or a geometry close to the desired geometry). Multiple optimization techniques may be used. Example optimization techniques include gradient descent, Adam optimization, and Bayesian optimization. An optimization technique may be chosen based on the complexity of the desired geometry. The optimization may be done both in the long and short horizons (e.g., time scales). The long horizon optimization may be done offline (before the part forming process begins) to determine steps of the process (e.g., step by step instructions for the robot to achieve the desired geometry). For example, a long horizon optimization may determine how to form a material sheet into a fully formed part. In some embodiments, long horizon optimizations determine a set of intermediate geometries that occur during a part forming process (e.g., intermediate geometries between the sheet and the fully formed part (e.g., for each time step or layer)). However, errors or inaccuracies may accrue over time (e.g., for processes with lengthy build times or processes with a large number of time steps). For example, the part may deform differently than the model predicted. To remedy this issue, short horizon optimizations may be performed during the forming process (online) to reduce or correct errors that may accrue. For example, the model is queried by a (e.g., online) controller that can modify (e.g., correct) steps determined during the long horizon optimization based on the current state of the sheet. For example, for a given time step, instead of assuming the part has a geometry predicted by the long horizon optimization, sensor data may be used to determine the actual geometry of the part. The model may then be queried to determine a new set of parameter values for the time step (or modify the long horizon parameters associated with the time step). For example, the model may be queried to determine which parameter values will form the actual geometry into the predicted geometry (or another intermediate geometry from the long horizon optimization).

[0073] While long horizon optimizations may be used to determine an entire part formingprocess or significant portions of the process, determinations made by short horizon optimizations may be limited to small portions of the part forming process. For example, a short horizon optimization determines a number of interactions (e.g., less than ten) between the end effector and the part. In another example, a short horizon optimization determines interactions between the end effector and the part that will occur during a time window (e.g., less than ten seconds). In another example, a short horizon optimization determines parameter values for a set of time steps (e.g., less than ten time steps). In another example, a short horizon optimization determines how to form a part in a first geometry into a second geometry, where the first and second geometries are intermediate geometries determined by a long horizon optimization. In another example, a short horizon optimization is used to determine how to form a part so that it is a threshold percent closer to a final geometry (e.g., less than ten percent).100741 In some embodiments, a long horizon optimization is used without short horizon optimizations (e.g., the model has a threshold accuracy or the part forming process has a short build time or a small number of time steps). In some embodiments, short horizon optimizations are used without a long horizon optimization.

[0075] Referring back to the model 200, the model may be trained using the data from a simulation module. Additionally, or alternatively, the model 200 may be trained using data (e.g., sensor data) from a physical process that forms a part.

[0076] In some embodiments, multiple models are trained. For example, models may be trained using different machine learning techniques. Additionally, or alternatively, models may be trained for specific materials (e.g., steel vs. aluminum), geometries (simple vs. complex), or sheet thickness (e.g., 1mm vs. 2mm). Among other advantages, models trained for specific specifications may be more accurate than a general model.

[0077] FIG. 2B is a block diagram illustrating an example of the process 220. The process includes an offline learning process 220A and online process 220B. In this context, “online” refers to a time period when a part forming process is occurring (e.g., a robot is deforming a metal sheet to form a part), and “offline” refers to a time before or after a part forming process. The offline process uses simulation data 230, data 265 generated by an in-process inspection, and data 240 generated by a post-build inspection (of the formed part 270) to train model 200. Example data from an in-process inspection is metrology data. Example data post-build inspections includes geometry scans or X-rays of the finished part. After the model 200 is generated, it may be used todetermine a part forming process.[00781 The model 200 may also be applied by the controller 255 of the robotic system 260 in the online process. More specifically, the model 200 may determine predictions about the resulting change in geometry from each parameter change at each point in time in the part forming process. In the online process, the controller uses sensors installed on the robotic forming system to obtain sensor data 265 to determine a current geometry of the part. The current geometry may then be input to the model 200. The model predicts the outcome (e.g., a resulting change in geometry) of changes in those process parameters. By iterating over different possible parameters and their outcome predicted by the model, the controller identifies and chooses the (e.g., best) parameter 250 that produces the most desirable outcome to control the robotic forming system through a forming process that achieves the desired geometry. The controller uses the best parameters and may repeats this optimization cycle (e.g., in every step of the process) to improve the outcome.100791 In addition to the model 200 described above with respect to FIG. 2A, other models are possible. Two examples are provided below.BLACKBOX MODEL

[0080] Fig. 16A illustrates an example black box model 1600. The model receives an entire forming path 1605 to be applied to a material sheet and outputs the resulting final geometry 1610 formed by the path. Thus, the model may be trained using data that describes various forming paths and the resulting part geometries. Since the model is not trained to account for physical phenomena (e.g., elastic deformation, global deformation, buckling) the model may be trained using large amounts of training data.

[0081] A more complex model is the one that breaks the forming process into layers and tries to predict the effect of various parameter values at each layer. In this context, “layer” refers to a section of a part. For example, a first layer refers to the section that extends one inch away from the original sheet and a second layer refers to the section that extends from the first inch to the second inch. An example of a layer based model is further described below.LAYER BASED MODEL

[0082] Fig. 16B illustrates an example layer based model 1615. For input, the model receives asegment of a forming path 1620 and the initial geometry 1630 of a metal part (e.g., a sheet or other geometry). The segment of the forming path 1620 may include enough forming path to form a new layer of the part. The model outputs a resulting geometry 1625 (e.g., the geometry of the part with a new layer). Training data for this model may be generated by determining a forming path (e.g., set of parameter values) that formed a new layer of a part (e.g., scan every layer or every few layers).[00831 Model 1615 may be developed as a sequence model which means it may be any of the sequence architectures (e.g., RNN, LSTM, Transformers). This model has more advantages than model 1600 since it is agnostic to general changes to the policy for forming robots. For example, model 1615 may be used to model inset adding or doing ADSIF or grouped DSIF. That being said, in some embodiments, model 1615 does not capture physical phenomena that may occur during each layer or group of layers.SIMULATION

[0084] Referring back to FIG. 2B, the simulation module 225 simulates interaction of a robot- controlled tool, such as a stylus, with a sheet metal or other material. In one example, the simulation may be done using a finite element method. The simulation may be performed to generate simulation data indicating various input parameter values and resulting part geometries. The simulation may be replicated (e.g., in computer data centers) to generate large amounts of simulation data 230. The simulation speed and rate of data generation can be significantly enhanced using GPUs. The large amounts of data may be beneficial for training the model (e.g., instead of only relying on data generated from using a robot arm to physically deform a sheet).100851 FIG. 3 illustrates an example image from a simulation. The image includes a three- dimensional simulation of a sheet 300 and two tools 305A and 305B interacting with the sheet. The tools may be coupled to robot arms. Tool 305A is interacting with the top surface of the sheet, and tool 305B (partially blocked by the sheet) is interacting with the bottom surface of the sheet. The tools are pressing into the sheet to form a deformation 310. In the example of FIG. 3, the deformation is a rectangular hill protruding upward.

[0086] Referring back to FIG. 2B, input for the simulation module 225 may be a specification for a sheet, such as its material properties (e.g., the stress - strain curve) and failure criteria (e.g., mechanical failure of the sheet). Failure criteria may be one or more rules that specify when a part has tom or cracked. The criteria may be based on thickness of the sheet, the material properties, andthe amount strain put into the sheet. The simulation module may also receive a specification for one or more programmed forming paths (e.g., determined heuristically) and the type and size of the end effector (e.g., stylus). The simulation module outputs, for a sequence of time steps of the programmed control process, the resulting formed geometry.

[0087] By varying different input process parameters such as the forming path, its speed, and the geometry being formed, the simulation module 225 can generate a (e.g., large) data set indicating how a specific metal is deformed with this process (e.g., how metal deforms in response to certain input parameters). The simulation data is used to train a model (e.g., by a training module). The model may be trained using one or more different machine learning techniques and constructs, such as Neural Networks, Random Forests, Decision trees, or regressions. In some embodiments, the training techniques are supervised learning techniques.

[0088] In some embodiments, the simulation data is used to train an initial model. The initial model may then be refined or retrained using data from physical part forming processes to increase the accuracy of the model.

[0089] In the examples described above, the model is generally described in the context of forming operations. However, the model (or another model) may be trained to predict other part operations, such as trimming or hemming.INSTRUMENTATION OF ROBOTIC PART FORMING

[0090] The model created using simulation data may be further trained from data derived from an actual physical process that uses a robot arm and an actual sheet. The physical system is equipped with one or more different types of sensors. Example sensors include: (1) encoders in the robot joints that provide positional information as determined by the position of the joints, (2) optical trackers (e.g., a camera) that track the location of robot in (e.g., 3D) space, (3) surface scanners to generate as-built geometry of the part before, during, and after the forming process (surface scanners may have a point accuracy of 0.5 mm), (4) load sensors that determine the force the forming end effectors apply on the sheet, (5) ultrasonic sensors (e.g., electromagnetic acoustic transducer or EMAT) for real-time monitoring of material thickness, and (6) eddy current sensors (e.g., pulsed eddy current) for real-time monitoring of the metallurgical state of metallic sheet. In some embodiments, if the surface scanner is attached to the robot arm, surface scanner data may be stitched together based on the encoder data to determine the geometry of a part (the location of thescanner depends on the position of the arm).(00911 The encoders may be attached to each joint on the robot to track its actual movement, the optical trackers may be mounted around the manufacturing cell. This allows the optical trackers to capture images that include tracking targets installed on the robotic arms and the frame holding the sheet in place. The load sensor and scanner may be attached to the end-of-arm tooling to track forming forces and deformation of the sheet during the process.[00921 Example optical trackers are illustrated in FIG. 4. FIG. 4 includes two robots 400A and 400B in a manufacturing cell. FIG. 4 also includes two optical trackers 405 A and 405B. The robots include tracker targets 410 located at various points on the robots. The optical trackers capture images of the robots and identify the locations of the tracker targets in the images. Thus, the locations of the robots in space can be determined. Although not illustrated, the sheet metal or frame may also include tracking targets to track locations of the robots relative to the metal sheet or frame.10093 [ In some embodiments, the robot arm is outfitted with a scanner and a load sensor (e.g., force / torque sensor) as illustrated in FIG. 5A. FIG. 5A illustrates a zoomed in view of an end of a robot arm. The robot arm interacts with a metal sheet 500 via a stylus 505 to create a deformation 517. The arm also includes a force torque sensor 510 and a laser profile scanner 515. FIG. 5B is an example image generated using data from the laser profile scanner 515. FIG. 5B illustrates a reconstructed three-dimensional surface of the metal sheet. The image includes clamps 530, a sheet 520, and deformations 525 in the sheet.1009 1 With the sensors described above, accurate data can be captured to characterize steps of a part forming process.

[0095] Referring back to FIG. 2B, the training module 235 obtains data 230 generated by the simulation module 225 (e.g., parameters and estimated final geometry of a part for a given forming process), sensor data 265 generated during a part forming process, and data 240 generated during a post-build inspection 245 (e.g., actual final geometry of the part). The training module 235 trains a machine-learned model 200 that maps input parameters to a resulting geometry.USING THE MODEL IN CONTROL LOOP

[0096] Once a process model 200 is generated using the above-described training process, themodel may be applied in the control process of the robotic forming in two ways. The model may as an input takes a specification for a sheet, such as its material properties (e.g., stress - strain curve) and failure criteria. It may also receive a specification for forming paths (which may initially be determined offline) and the type and size of the tool. The model can be either queried online for optimized process parameters for each time step of the process in real-time, or it can be used in the design of experiments offline to determine optimal policy for forming the part. The policy here refers to general pathing strategies in forming a part.100971 FIG. 6 illustrates two different strategies for forming a cone in an example forming process. Both can be evaluated (e.g., by the controller 255) using the machine-learned model 200 to determine a preferred path. The model can also be used (e.g., by the controller 255) to determine a combination of strategies for different locations in the part that might yield the best outcome. On the left side of FIG. 6 is a depiction of a forming path 600A that starts the forming from outside and moves in a circular pattern toward the inside of a cone (first forming the largest radius and then moving toward forming a smaller radii). On the right side of FIG. 6 is depiction of a forming path 600B that starts forming from inside and moves in a circular pattern toward the outside of a cone (first forming the tip of the cone with the smallest radius and then progressively forming larger and larger radii). The model can be used predict the outcome of both strategies to determine the best strategy or their combination for different parts.10098 ] Two categories of systems discussed below may increase the speed of sheet metal part fabrication using robots. The first system and design (“Forming With Rollers”) increases the speed of the forming process itself, while the second (“Integration of Downstream Processes”) addresses downstream processes from part forming to decrease total fabrication time.FORMING WITH ROLLERS

[0099] To increase the speed of the part forming process, an end-effector tool may be configured to interact with the sheet metal with reduced (e.g., low) friction forces. Reducing friction allows for reduction in vibrations in the sheet and hence allows increased speed of forming without negative impact on the geometrical accuracy of the formed part. It may also result in better surface quality (e.g., reduced tearing and galling) compared to tools not configured to reduce friction (e.g., static forming tools).|00100] An example tool configured to reduce friction is a stylus made of a material (or coatedwith a material) configured to reduce friction. Thus, if the stylus is dragged across the surface of a part, the reduced friction may reduce or eliminate surface degradations and increase the path speed.

[0101] Other tools configured to reduce friction may include roller tools. Roller tools may result in lower friction forces than a stylus. Different rollers with different radii and shape can be used to accommodate for different features in the part design. FIGS. 8A-8B illustrate example embodiments of roller tools. FIG. 8A includes an image of a roller tool 805 coupled to a robot arm and a magnified view of the tip of the roller tool 815. The tip of the roller tool includes a roller 810 held in place by a support 812. The support allows the roller to rotate about an axis 817. FIG. 8B is an image of a larger roller tool 820. Similar to FIG. 8A, tool 820 has a roller 825 and a support 830. Another example of a single axis roller is illustrated in FIG. 14. The tool includes a roller 1405 with a support 1410. The roller can rotate about axis 1415, which is parallel to a long axis of the support.

[0102] In some embodiments, the roller can only roller about a single rotational axis (e.g., as in FIGS. 8A and 8B). However, the robotic system is controlled, via the controller, to orient the roller tool so that the roller rolls along the desired direction of movement (the desired direction of movement may be set by the program). Said differently, the roller tool may be oriented so that the rotational axis of the roller is perpendicular to the direction of movement of the roller tool. The illustrated rollers are specifically suitable for part forming with articulated 6-axis robots, since the robots can take advantage of the 6 degrees of freedom to align a roller in the direction of the movement during part forming. The roller may be held with the same mechanism as the stylus or other tools using a tool holder that is mounted at the end of the robotic arm.

[0103] In some embodiments, a roller tool includes a roller that can rotate about multiple rotational axes. An example, of this is illustrated in FIG. 13. FIG. 13 includes a roller tool 1300. The tool 1300 includes a ball 1305 in a socket that may be part of a support 1310 for the ball. The ball can rotate in the socket. Thus, the tool can move in different directions along a part surface without the robot rotating the support along the long axis. Due to the socket configuration, the roller tool 1300 may have less friction than a stylus but more friction than a single axis roller (e.g., as illustrated in FIGS. 8A and 8B).

[0104] The disclosed roller design installed on a robotic setup allows for robotic part forming with reduceds friction, hence reduced forces which then allows for better surface quality of the formed part and increased speed of the forming process.INTEGRATION OF DOWNSTREAM PROCESSES IN THE FORMING SETUP

[0105] Sheet metal part forming may be one of many manufacturing steps performed to produce a final sheet metal part. For example, a sheet metal part also goes through trimming, hole making, hemming, or other processing steps after the part forming process. Traditional methods involve transferring a sheet metal part from one specialized manufacturing station to another, performing each manufacturing step in each corresponding station to produce the delivering the final part. This results in increased manufacturing time due to the time for physically moving the part from one station to another.

[0106] Each of the downstream processes generally has its own specific tooling. For example, for trimming a part, it is desirable to use a geometry specific frame that can hold the geometry of the part while a trimming operation is performed.

[0107] In some embodiments, the robotic system allows for performing two or more (e.g., all) downstream manufacturing steps in the same station using the same robotic setup, thus avoiding moving of the part and decreasing the total fabrication time. Each downstream process may use a different tool. For example, when performing trimming (e.g., hole making), the robot arm may attach different tools such as a spindle, laser, or a plasma torch. The robotic arm can be controlled to automatically change the tool through software instructions of the program executed by the controller (e.g., controller 255). For example, the controller can control the robot arm at varying times throughout the process to perform a programmed operation on the sheet metal with a particular tool, to control an actuator to release a tool from the tool holder (e.g., into a tool rack), and to cause the robot arm to attach a new tool from the tool holder (e.g., from the tool rack) for performing a subsequent operation.

[0108] In some embodiments, the steps that enable automatic integration of downstream processes in the same station may include the following. (1) the robot goes to a tool rack and picks up a forming tool (e.g., a stylus) using predefined software instructions sent to the robot. (2) the robot forms a part from a flat sheet of metal through software defined path and parameters. (3) After the part is formed, the robot moves back to the tool rack, disengages (e.g., drops) the forming tool, and picks up a trimming tool. This step may also be automated with software instructions. (4) The robot performs a trimming operation on the part with the trimming tool. If further downstream processes, such as hemming (e.g., bending), are used to finish the part, the system may continuefrom step 3 until no more processes are left to perform. If a station includes multiple robots, the robots may work in conjunction using the same or different tools to achieve a desired process (e.g., a forming or trimming process).100'1 91 If a manufacturing area includes multiple cells (e.g., each including two robot arms), instead of each cell changing tools to perform different operations, each cell may be assigned to a specific operation. In these embodiments, a part may be moved from one cell to another after each operation on the part is complete.

[0110] FIG. 10 includes images of various manufacturing processes described above. FIG. 10A illustrates a robot arm 1000 forming a deformation 1005 by pressing a stylus 1010 against a piece of sheet metal 1015. FIG. 10B illustrates the robot arm 1000 with a trimming tool 1020. The trimming tool is used to cut a hole 1025 in a portion of the deformation. To determine the location of the hole, a controller of the arm (e.g., controller 255) may compare a design of the deformation (e.g., in a computer-aided design file) with the current geometry of the deformation (the current geometry may be determined from sensor data). For example, after the deformation is formed, the robot picks up a scanner sensor, scans the deformation and, based on a design of the deformation, determines the path to trim the deformation. After that, the robot may pick up a trimming tool. FIG. 10C illustrates the robot arm 1000 with a hemming tool 1030. The hemming tool is used to bend a comer of a part 1035. FIG. 10D is a perspective view of a tool rack 1040 holding a plurality of tools 1045. The rack may be placed near a robot arm (e.g., arm 1000) so that the arm can exchange tools. In the example of FIG. 10D, tools 1045A and 1045B are styli and tool 1045C is a roller tool.FRAME

[0111] FIG. 9 is a perspective view of a frame 915 (also referred to as a fixture), according to an embodiment. In the example of FIG. 9, the frame 915 includes a series of clamps 900 that hold the sheet metal 910 in place. Specifically, the frame surrounds the edges of the sheet metal and the clamps are clamped to edge portions of the sheet metal 910. The clamps may be hydraulic or electric (e.g., servo). The clamps may be electronically operated. The frame and clamps may be sturdy enough to hold the sheet metal in place as the robot arms apply different processes (e.g., deformation forces) to the sheet. The frame enables access to large sections of the sheet metal 910 with robotic arms. Thus, it may eliminate the need for any method-specific modification in the fixture that is traditionally required with downstream operation from sheet forming.1001121 Thus, the stand design and software-controlled tool changer for controlling the robotic arms allows for automated downstream operations from forming of the sheet metal parts such as trimming, bending, and hemming without removing the part from the fixture and requiring geometry specific fixture.ULTRASONIC VIBRATION SYSTEM

[0113] In some embodiments, a flexible manufacturing system selectively and precisely treats certain regions of a (e.g., geometrically complex) metal part to modify its material properties, such as hardness. The system and process can reduce reliance on geometry specific tooling relative to conventional techniques, thereby reducing the cost and timing for manufacturing (e.g., sheet) metal parts. The described system and process achieves these outcomes without substantially raising the temperature of the part.1001141 Embodiments may utilize ultrasonic vibrations, delivered through industrial robotic arms and industrial controls, to enable high precision conditioning of metal parts to deliver high performing parts at lower fabrication time and cost. Ultrasonic vibrations in include vibrations with frequencies in the range of twenty kHz to three gigahertz. The vibrations can treat a region at room temperature and the vibrations may change the temperature of the region by less than 10°C.[00115| The disclosed surgical metal conditioning technology (SMCT), enables similar or better, strengthening results compared to traditional heat treatment methods without the need to raise the temperature and without its respective side effects. The ultrasonic vibration system may include a robotic kinematic system, an ultrasonic end effector, process monitoring sensors, and a controller. In some embodiments, the ultrasonic system has a small spatial footprint that allows its easy integration with existing production lines in metal manufacturing. It can also be used with emerging fabrication methods like additive manufacturing to help with wider adoption of these new technologies through delivering desired properties in feedstock and final part.COMPONENTS OF ULTRASONIC VIBRATION SYSTEM

[0116] The system 1100 may include four components as illustrated in FIG. 11. A kinematic component 1105 (e.g., an industrial robotic system) has the ability to reach different areas of a (e.g., complex) metal part (e.g., via programmatic software interface). An ultrasonic end effector 1115 (e.g., an ultrasonic transducer) coupled to the kinematic component can deliver ultrasonic vibrationsto the metal part with tuned parameters (e.g., power, frequency, time of treatment, and the angle of end effector). The kinematic component may have a small form factor so that it can be coupled to (e.g., attached to or installed on) an end of the kinematic component (e.g., an end of a robotic arm) and moved with precision in space. A controller 1120 (also referred to as a control unit) enables control over process parameters such as travel, speed, power, and frequency. Process monitoring sensors evaluate the result of the treatment and actively control the process. The components of the system 1100 are described in further detail below.ROBOTIC SYSTEM(00117] Articulated robots may be used as the kinematic component 1105. The industrial robots may provide broad movement range, flexibility, and small footprint. They allow for precise delivery of ultrasonic treatment to the intended area of the part. The robotic cell includes one or more heterogeneous, 6-axis robots mounted on linear tracks and a real-time monitoring and control system. If the cell includes multiple robots, the robots may work in coordination with each other to deliver ultrasonic treatment to different areas of the part (e.g., based on an input CAD file). The controller 1120 may monitor the treatment operation in real-time and assesses its effect against the desired treatment. The feedback may be actively used to update the robotic movement.CONTROL SYSTEM

[0118] The controller 1120 obtains the geometry of the part 1110 and signals from various sensors installed on the robot or the part. The robot (e.g., 1105) is controlled to interact with the part in accordance with a program applied by the controller to result in a desired geometry. For example, the program controls the robot arms to move in a particular sequence (e.g., along a predefined path) and apply the ultrasonic end-effector to the part according to particular programmed parameters at each step of the sequence. The controller 1120 may be coupled to a power supply 1125 with knobs or automated software controls to control the frequency and the power of ultrasonic vibrations in real time through a software interface. For example, the controller may control a frequency, amplitude, or other operational parameters of the ultrasonic end-effector to achieve a desired material property at different locations on the part. As previously described, the program may also cause the robot to utilize other tools to bend, pinch, cut, heat, seam, or other form the metal in accordance with the program. During the part forming process, the controller may receive andprocess sensor data from the sensors to determine the proper joint values for each axis in the robotic arm, the ultrasonic end-effector parameters, or other operational parameters, to control the robot arms and end effector accordingly. For example, the sensors may sense the hardness and, based on the sensor data, the controller may control the ultrasonic end-effector (e.g., ultrasonic parameter values) to achieve the programmed hardness.(0011 | Depending on the ultrasonic parameter values and the material of the part, the vibrations may harden or soften a region of the part. For example, with 7xxx aluminum, low power ultrasonic vibrations can harden the metal, but if the power is increased above a threshold level, the vibrations will heat the meal, which anneals (softens) the material.ULTRASONIC END-EFFECTOR

[0120] The ultrasonic apparatus or end-effector 1115 is a tool attachable to a tool holder of the kinematic component 1105. The ultrasonic end effector may include piezoelectric disks, front mass, back mass, ultrasonic horn, fixtures, and frames. It can deliver a wide range of power and frequencies to the part 1110. Different designs of the ultrasonic horn and coupling element also allows for a controllable treatment footprint.

[0121] Generally, the ultrasonic end effector includes a transducer that vibrates a component to apply vibrations to a region of a part. FIG. 12 illustrates and example ultrasonic end effector 1215. The end effector 1215 includes a ball 1205 in a socket 1210 formed by a support 1220. Although not illustrated, a mechanical transducer is located in the socket. The transducer can vibrate the ball. Thus, ultrasonic vibrations may be delivered to a local region by pressing the ball against the part without affecting other regions of the part. The diameter of the ball may determine the size of the treatment region. For example, the end effector can apply vibrations to a region with a diameter of a quarter of an inch. Other end effector configurations, such as different size balls, may enable smaller or larger regions to be treated with vibrations. Although the example of FIG. 12 includes a ball in a socket, other configurations are possible. For example, an ultrasonic end effector may include a component with a rounded surface (or another shaped surface) that is coupled to a transducer.PROCESS MONITORING

[0122] Process monitoring includes sensors that can measure ultrasonic vibration andtemperature in the part and end effector. For example, thermocouples and thermal cameras can detect the temperature and the ultrasonic vibration can be measured through the power supply 1125. The sensors may also include, for example, accelerometers, gyroscopes, pressure sensors, or other sensors for detecting motion, position, and interactions of the robot with the sheet metal.PROCESS DESCRIPTION

[0123] In an example process, the process starts by identifying the local areas (also referred to as sections or portions) of the metal part 1110 with properties that are programmed to be changed in accordance with a desired final part. These areas may be based on the properties desirable for downstream operations like forming, machining, etc. For example in order to stretch certain areas in a later forming operation, those areas may be softened via ultrasonic vibrations. The control unit 1120 generates commands for the robot to bring the ultrasonic end effector 1115 near the identified region. The control unit will then command the power supply 1125 to power up the end effector to the frequency and power that generates the desired properties in the material. These frequency and power values may be determined using empirical and machine learning models built through design of experiments done previously. The design of the experiment may also determine the time of treatment and the angle of end effector. The time and angle are enforced through commands sent by the controller to the robot to align the end effector and movement at the correct speed so each area gets the appropriate amount of treatment for the desired effect.ROLLER TOOL END EFFECTORS

[0124] The following paragraphs describe various roller tool end effectors.

[0125] FIG. 17A is a diagram of a roller tool 1701 with a ball 1703 in a socket 1705 of a support structure 1709, according to one or more embodiments. In some embodiments, the support 1709 is a rod and the socket 1705 is a concave portion of a sphere (e.g., hemisphere) machined in one end of the support 1709 to accommodate the placement of the ball 1703. The support 1709 and / or ball 703 may be made of any suitably hard material, such as metal (e.g., steel), carbide ceramic, or some combination thereof to form a part. As previously discussed with respect to other roller tools (e.g., the description with respect to FIG. 13), the ball 1703 can rotate in the socket 1705, the support 1709 is held by a robot (e.g., 100A or 100B), and the ball 1703 may be forcefully applied to a part to form it into a desired geometry.(00126] The socket 1705 includes a base area 1714, a rim area 1712, and an intermediate area 1716. The base area 1714 is the bottommost area of the socket 1705, which is the deepest region of the socket. The rim area 1712 is an area adjacent to the edge 1704 of the socket 1705, and the intermediate area 1716 is the area between the base area 1714 and the rim area 1712. The base area may correspond to latitude angles of 50-90 degrees (of the socket), the intermediate area 1716 may correspond to latitude angles of 30-50 degrees, and the rim area may correspond to latitude angles of 0-30 degrees. However, the specific angles for each of the areas depends on the embodiment of the socket 1705, such as the shape and depth of the socket 1705. Various retention methods may be employed to keep the ball 1703 within the socket 1705. For example, the ball 1703 may be retained by friction, fluid pressure, electromagnetic force, surface tension, or some combination thereof.

[0127] In some example roller tools, the socket is deep enough that an edge (e.g., 1704) of the socket substantially aligns with the equator line (e.g., 1706) (also “center line”) of the ball (e.g., 1703) when the ball is in the socket (e.g., the edge 1704 is aligned with latitude angles of 0-5 (inclusive) degrees of the ball). However, this is not required. Depending on the one or more ball retention methods used, the edge (e.g., 1704) may be below or above the ball equator line (e.g., 1706) when the ball is in the socket (e.g., the edge 1704 aligns with latitude angles of 5(exclusive)- 40 degrees of the ball).

[0128] In one embodiment, the roller tool 1701 includes a coating on the surface of the socket 1705 that contacts the ball 1703. The coating 1707 may reduce friction between the ball 1703 and the socket 1705, allowing the ball 1703 to rotate smoother inside the socket 1705. The coating 1707 may also reduce wear. An example coating 1707 is a low friction permanent coating (e.g., RED), such as a diamond-like coating (DLC). Additionally, or alternatively, the roller tool 1701 may include a lubricant (not illustrated in FIG. 17A). The lubricant may reduce friction between the ball 1703 and the socket 1705. The lubricant may also provide passive ball retention.

[0129] FIGS. 17B-17R are example diagrams of different embodiments of the roller tool 1701 in FIG. 17A. Note that a roller tool (e.g., 1701) may include any combination of aspects, features, or components described with respect to FIGS. 17A-17R (as long as the aspects, features, or components are not mutually exclusive). For simplicity, the following descriptions of FIGS. 17B- 17R may omit figure reference numbers to components of the roller tool 1701 (e.g., omitting “1705” when referring to the socket 1705 or omitting “1703” when referring to the ball 1703).(00130] In FIG. 17B, the support 1709 includes a beveled edge 1711 on the outer surface (e.g.,around the outer surface of the support). Said differently, the outer diameter of the support 1709 is relieved. Among other advantages, the beveled edge 1711 allows greater clearance from nearby surfaces or objects when the roller tool 1701 is used to form a part. Thus, the beveled edge 1711 allows the tool 1701 to be applied to a part surface at greater angles (formed by the surface normal of the part relative to the long axis 1702 of the tool) without the edge 1711 contacting the surface (or another object). In general, no beveled edge or less beveling is more effective at supporting the loads applied during forming but this can limit the wall angles. Sockets with walls that don’t extend to higher latitudes of the ball can have less beveling. However, there may be increased risk of dropping the ball from the socket during forming (depending on the one or more ball retention methods used).

[0131] In some embodiments, the socket 1705 may have a nonspherical surface (e.g., an aspheric surface, which may refer to an axisymmetric profile of continuous curvature). In FIG. 17C, select areas 1713 of the socket 1705 are relieved away from the surface of the ball 1703. More specifically, some areas 1715 of the socket 1705 are shaped to match the surface of the ball 1703 and other areas 1713 are shaped to not match the surface. In the example of FIG. 17C, the base area 1714 and the rim area 1712 of the socket 1705 are both relieved, while the intermediate area 1716 is shaped to contact the ball, resulting in a donut shaped contact area between the ball and the socket. More specifically, the base area 1714 in FIG. 17C has a relieved area with a radius of curvature less than ball 1703, and the rim area 1712 in FIG. 17C has a radius of curvature greater than ball 1703.

[0132] If a socket is shaped so all areas contact the ball prior to part forming (e.g., the socket curvature perfectly matches the ball curvature), when high pressures are applied to the socket and ball during part forming, the socket may deform due to these high pressures. For example, the edge or the rim area of the of the socket may (e.g., elastically) flare out at higher pressures, which reduces the contact area of the socket with the ball. Due to this, the base area 1714 receives even higher pressures during part forming. If the pressures become too high, galling can occur or the ball can delaminate a coating (e.g., 1707) on the socket at the base area 1714, thus damaging the roller tool 1701.[00133 | However, if a socket includes relieved areas (e.g., see FIGS. 17C and 17P) prior to part forming (e.g., prior to applying pressure to the roller tool 1701), when higher pressures are applied during part forming, the socket may change shape to increase the contact area of the socket with the ball (said differently, the socket becomes more spherical at higher pressures). In the example ofFIG. 17C, pressure at the matching areas 1715 may result in the socket changing shape (e.g., deforming) such that and the amount of relief of the base area 1714 decreases, resulting in the contact area of the socket with the ball moving downward (note that the matching areas 1715 are not required for the socket to change shape under load. Other socket shapes, such as the discrete and continuously changing curvature embodiments described below (e.g., see description of FIG. 17P), may also be designed to change shape as pressure increases). Thus, the surface of the socket may be changed (e.g., deformed) to match the surface of the ball at higher pressures (even if the socket surface doesn’t match the ball surface at lower pressures). Said differently, many (e.g., all or most) regions of the socket may be changed to contact the ball at high pressures (even if some of the areas doesn’t contact the ball at lower pressures). However, when the higher pressures are removed, the socket may revert to its previous shape. Among other advantages, a socket with relieved areas can (a) reduce or eliminate galling or delamination, (b) increase the load capacity of the socket, or (c) some combination thereof.|00134] FIG. 20 includes plots that illustrate the difference in load distribution for the spherical and nonspherical socket profiles. The plots illustrate that, for the nonspherical socket, the load spreads the contact over a larger area and reduces the peak contact stress (indicated by the ksi values in each plot) relative to the spherical socket. The plots also illustrate the annular contact band migration downward with increased load. For example the 25.8ksi peak plot shows the location of the peak is about 2 / 3rds down, and the 5 Iksi peak plot is down closer to 3 / 4ths down. Optimization and the continuous curvature case may further tailor the curve.100135] Other example socket shapes are possible. For example, an aspheric embodiment is one of continuous curvature change across the entire socket surface. An example discrete embodiment is illustrated in FIG. 17P, which is a cross-sectional view of a socket with two relieved areas and without an intermediate area. A “lower” relieved area 1762, located at the base area 1714 and part of the intermediate area 1716, has a radius of curvature less than ball 1703, while an “upper” relieved area 1760, located at the rim area 1712 and the remaining part of the intermediate area 1716, has a radius of curvature greater than ball 1703. These upper and lower areas meet with tangency, and the ball 1703 rests on the upper area 1760 in the no-load condition. In this example embodiment, the arc center of the upper area does not lie on long axis 1702 (e.g., see FIG. 17S). When loaded, an annular band of Hertzian contact is formed, the center of which migrates downward with increased load. The amount of the contact area between the ball and the socket isbased on the size and locations of the relieved areas (e.g., the difference in a relieved area radius relative to the radius of the ball), the magnitude of the applied load, and the Young’s moduli of ball 1703 and support 1709. The upper and lower relieved areas may be subdivided by a third or more areas of intermediate radius to more finely control the load versus contact pressure function. Discrete regions may be replaced with a continuously changing curvature (e.g., an aspheric profile) that can be defined to prescribe a desired load versus contact function. An example profile may be determined by a function influenced by the constraint gradient imposed by support 1709, which may be altered by the presence and dimensions of beveled edge 1711.

[0136] FIG. 17S illustrates some of the features of FIG. 17P described above. For example, the center 1708 of the ball 1703, the arc center 1763 of the lower area 1762, and the arc centers 1761 of the upper area 1760 are illustrated. As illustrated, arc centers 1761 do not lie on long axis 1702. This is a consequence of the arc tangency and the difference in radii. If the radii were equal, both arc centers would be coincident with long axis 1702. Furthermore, arc center 1763 is lies on long axis 1702 but is below the ball center 1708. Furthermore, the areas 1760 and 1762 meet at point 1764 with tangency. Said differently, areas 1760 and 1762 are axisymmetric arc segments that meet with tangency.|00137] As previously stated, the examples of FIGS. 17P and 17S include two regions. However, other embodiments may have additional regions, such as intermediate regions, e.g., that have tangency (e.g., as described above with respect to 1760). Note that an aspheric embodiment may correspond to the socket having an infinite number of regions with tangency.

[0138] In FIG. 17D, the roller tool 1701 includes a channel 1717 passing through the support 1709. FIG. 17E is a perspective diagram of the roller tool 1701 of FIG. 17D (note that the ball is not illustrated). The channel 1717 allows fluid (e.g., gas or liquid) to pass through and interact with the ball 1703. An example gas is air, and an example fluid is a lubricant, such as oil. The socket may include one or more relieved areas (e.g., 1713) to increase fluid interaction with the ball, for example, at the area where the channel intersects the socket. In the example of FIG. 17D, the base area 1714 is slightly relieved for this purpose since the channel intersects the socket 1705 at the base area 1714. Although only a single channel is illustrated in FIGS. 17D and 17E, the support 1709 may include additional channels (e.g., see FIGS. 17F and 17G), for example, to increase the amount of fluid flow (e.g., multiple channels may increase flow without potentially adding as much friction as a single larger hole in the center of the pocket, which is typically the portion of the socket thatreceives the highest load). Additionally, the fluid may flow continuously, periodically, intermittently, in response to a triggered condition, or some combination thereof. Additionally, the fluid may flow while the tool is forming a part (e.g., the tool is applying force to a part surface to form it) or while the tool is not forming a part.

[0139] In some embodiments, a fluid may be controlled to flow away from the ball and into the channel 1717. For example, the fluid can be used to retain the ball in the socket via vacuum retention (e.g., when the ball isn’t in contact with a part or otherwise constrained to the socket 1705). Additionally, or alternatively, a fluid may be controlled to flow out of the channel and toward the ball. For example, the fluid (e.g., air) can be used to retain the ball in the socket (e.g., when the ball isn’t in contact with a part or otherwise constrained to the socket 1705). Bernoulli's principle states that the fast-moving fluid (e.g., air) around the sides of the ball is at a lower pressure than the surrounding stationary air. If the ball begins to leave the stream of air, the still higher- pressure air will push it back in. Thus, the ball remains suspended above the socket as long as high- pressure fluid is flowing through the channels.[ 001401 In another example of the fluid flowing out of the channel and toward the ball, the fluid is a lubricant to lubricate the tool during operation. In another example, a fluid flowing toward the ball may reduce (e.g., prevent) contamination or debris from entering or staying in the socket, for example, by flushing out contamination (e.g., metal particles) in the socket. The fluid may additionally, or alternatively, keep the ball cool during part forming.|001411 In another example, the fluid applies pressure to the ball (e.g., 10,000 PSI). This fluid may prevent contact between the ball and socket or reduce the contact area of the ball with the socket (e.g., when the ball is in contact with the surface of a part). For example, the fluid pressure against the ball may be dynamically controlled according to the pressure of the ball against the surface of a part (e.g., controlled to match (within a deviation threshold) the pressure of the ball against the surface of the part). Among other advantages, this high-pressure fluid may reduce friction or damage caused between the ball and socket during part forming.

[0142] In some embodiments, fluid is controlled to prevent the high-pressure fluid from flowing if the ball is unexpectedly removed from the socket (e.g., due to a mechanical or software failure) or if there is an unexpected loss of contact of the ball with a part surface. The ball may be intentionally removed as well, for example, when the forming tool is backed away from a part when moving between forming areas or when the part forming is complete. Events that result in the ball beingremoved from the socket (intentionally or unintentionally) are referred to as “loss events.” To prevent high-pressure fluid from flowing if the ball is removed from the socket, for example, the fluid may be controlled to apply high pressure to the ball but have a low flow rate. In another example, if a loss event occurs, the flow rate or the pressure of the fluid is quickly reduced. For example, the channel 1717 includes a fluid valve and the fluid is stored in a high-pressure reservoir (e.g., thousands of PSI). During operation of the roller tool 1701, the valve is opened, and fluid is allowed to flow through the channel, thus exposing the ball to the high-pressure fluid. However, if a loss event occurs, a controller may quickly close the valve to prevent high pressure fluid from flowing out of the roller tool 1701. In another example, the fluid pressure may be applied by a small diameter hydraulic piston that moves (note: due to the small diameter, the linear factor does not need to be large to create the high fluid pressure). But if a loss event occurs, movement of the piston can be stopped to reduce or stop the fluid flow. An additional passively controlled example includes the use of a flow fuse in a channel (e.g., see an example flow fuse 1905 in FIG. 19. A flow fuse may enable fluid flow when the flow is restricted by the forming ball and may enable flow cutoff when the ball is unloaded. The contact band of the socket may initially cut the flow to near zero, allowing the flow fuse bypass or leakage flow to start equilibrating the area behind the ball with the supply pressure until the point that the spring opens the check valve applying full line pressure behind the ball. The downstream pressure reset condition may also be satisfied by fluid compression by the loaded ball in the case of flow fuses without bypass or leakage flow. In the event that forming ball is unloaded, the sudden increase in flow and / or change in pressure across the flow fuse would close the valve again. To re-set, the hydraulic system may reach a condition that satisfies re-opening. For example, the end is re-sealed by the ball, and the high downstream pressure used to reopen the valve may be satisfied by a minor bypass flow around or through the flow fuse. The sealed cavity created above area 1762 and below the seal of the annular contact of the ball above may create a resettable condition under load. The ball may compress lubricant in this cavity sufficiently under load to reopen the flow fuse without a bypass flow. Other socket variations may be compatible.[00143 J In FIG. 17H, the roller tool 1701 includes channels 1717 passing through the support1709. FIG. 171 is a perspective diagram of the roller tool 1701 of FIG. 17H (note that the ball is not illustrated). FIGS. 17H-I include channels 1717 intersecting the rim area 1712 of the socket 1705 (instead of the base area 1714 as illustrated in FIGS. 17D-17G). The channels 1717 of FIGS. 17H-I may be used for similar purposes as the channels of FIGS. 17D-17G as previously described.However, channels at the rim area 1712 may be more effective at providing fluid for lubrication or reducing or clearing contamination in the socket compared to a channel at the base area 1714. In contrast, a channel at the base area 1714 may be more effective at applying pressure to the ball when the ball is forming a part. Similar to FIGS. 17D-17E, the roller tool 1701 in FIGS. 17H-I includes relieved areas 1713 where the channels 1717 intersect the socket (in this example, at the rim area 1712) to help the fluid interact with the ball. For example, the relieved areas 1713 allow the passage of air or lubricant during the part forming process.|M144| In FIGS. 17J and 17K, the roller tool 1701 includes a cover 1719 held in place by a ring 1721. Specifically, FIG. 17J is a cross-sectional diagram and FIG. 17K is a perspective diagram of the roller tool 1701 with the cover 1719. The cover 1719 partially covers the ball and the support 1709 to cover the gap 1720 between the ball and the socket 1705. However, the cover 1719 forms an opening 1722 that leaves a portion of the ball exposed to contact a part surface (during part forming). The opening 1722 is smaller than the ball (e.g., the diameter of the opening 1722 is smaller than the diameter of the ball).100145| The cover 1719 may reduce or prevent debris or contamination from entering the gap. Additionally, or alternatively, the cover 1719 may create a seal for improved ball retention in the socket (e.g., via vacuum retention). The cover 1719 may be a thin and flexible material, such as a membrane. In other examples, the cover 1719 may be made of firmer material, such as (e.g., sheet) metal or plastic (in these examples, the cover may be referred to as a “clip”). These example covers may contribute to mechanically retaining the ball in the socket. In embodiments that include a cover that contributes to retaining the ball in the socket (e.g., the cover opening is small enough or shaped such that it prevents the ball from leaving the socket), the edge 1704 of the socket 1705 may be below (or before) the equator line 1706 of the ball (e.g., to increase the surface area of the ball available for part forming) and the opening 1722 of the cover may be above (or after) the equator line 1706. The cover 1719 is held in place via ring 1721, which rests in a groove of the support 1709. However, other retention mechanisms may be used. For example, as illustrated in FIG. 17M, a cover may be secured via a screw.

[0146] In the example of FIGS. 17J-K, the cover 1719 extends entirely around the long axis 1702 of the of the roller tool 1701 to cover the entire gap 1720 (said differently, the cover 1719 extends 360 degrees around the long axis 1702). However, this is not required. Instead, a cover may only partially cover the gap 1720 of the roller tool 1701 (e.g., a cover only extends 180 degreesaround the long axis 1702). FIGS. 17L and 17M provide additional examples of partial covers. FIG. 17L is a diagram of the roller tool 1701 with a first example partial cover 1723, according to one or more embodiments. Partial cover 1723 is similar in shape and appearance to cover 1719 except it only partially covers the gap 1720. FIG. 17M is a diagram of the roller tool 1701 with a second example partial cover 1725, according to one or more embodiments. In the example of FIGS. 17L and 17M, the partial covers 1723, 1725 contribute to retaining the ball in the socket (said differently, they may be one of several aspects or components used to retain the ball in the socket). In the example of FIG. 17M, the equator line 1706 of the ball 1703 is between the top edge 1724 of the partial cover 1725 (as opposed to the bottom edge 1726) and the edge 1704 of the socket.

[0147] Partial covers (e.g., 1723 and 1725) may provide the advantages described above with respect to full covers (e.g., 1719), such as reducing debris from entering the gap and contributing to ball retention. However, a partial cover (e.g., 1723 or 1725) may provide the additional advantage of providing a larger portion of the ball exposed for part forming (compared to full covers). For example, the additional surface area exposed by a partial cover may enable the roller tool 1701 to be applied to a part surface at greater angles (formed by the surface normal of the part relative to the long axis 1702 of the tool) without the partial cover contacting the part surface. In these embodiments, a controller (e.g., controller 255 or controller 1120) may rotate or orient the roller tool 1701 accordingly to keep the exposed portion of the ball facing the part surface.|00148| FIG. 17N is a diagram of the roller tool 1701 (ball not illustrated) with magnets 1727 fixed (e.g., embedded) in the support 1709. Magnetic fields from the magnets 1727 may be used to help retain the ball in the socket (assuming the ball is magnetic). In the example of FIG. 17N, the magnets 1727 are in cavities in the socket surface (e.g., the cavities were formed by drilling into the socket surface). The cavities may be located in any area of the socket, however it may be advantageous for them to be located at areas in the socket that tend to receive less pressure (e.g., the smallest pressure), such as the intermediate area 1716 (as illustrated in FIG. 17N) or the rim area 1712, to reduce or avoid disruptions to ball rotation. In the example of FIG. 17N, debris or contamination may accumulate in these cavities. To avoid this, the magnets 1727 may be placed in cavities that don’t intersect the socket. For example, the magnets 1727 may be in cavities formed by drilling from behind the socket.(00149] FIG. 170 is a diagram of a roller tool 1701 with an electromagnet to help with ball retention. Specifically, the support 1709 includes an electromagnetic coil 1729. Thus, by drivingcurrent through the coil 1729, a magnetic field may be created to help retain the ball in the socket. The electromagnet may further include a magnetic core inside the coil 1729 to increase the magnetic field, thus increasing ball retention performance.1001501 FIGS. 17Q and 17R are diagrams of a roller tool 1701 with an O-ring 1770. The O-ring 1770 is on the edge 1704. The O-ring 1770 may be wedged between the ball and the socket. The O-ring 1770 may be made of a low-friction material (e.g., plastic) for example, with an ID less than that of the ball diameter. The o-ring 1770 may create a seal for improved ball retention in the socket (e.g., via vacuum retention via one or more channels in the support 1709). Additionally, the rim area 1712 includes a relieved area (similar to 1713). This allows clearance for the ball to expand when a load is applied.1001511 Although previous descriptions provide examples of roller tool end effectors, the below paragraphs describe additional examples. The descriptions below may omit features previously described and / or include features that are in addition to or alternative to the features previously described.

[0152] Some aspects relate to a system configured to form a part (e.g., 110) in an initial geometry into a desired geometry, the system including: a roller tool (e.g., 1300, 1701); and a robot arm (e.g., 120) configured to: (a) press the roller tool onto a surface of the part and (b) move the pressed roller tool along the surface of the part to form the desired geometry, wherein the roller tool includes: a ball (e.g., 1703); and a support (e.g., 1310, 1709) with a socket (e.g., 1705) that receives the ball and enables the ball to rotate in the socket, the support including a channel (e.g., 1717) configured to carry fluid through the support toward the ball or away from the ball, the socket configured to, responsive to the ball being pressed onto the surface above a threshold pressure, deform such that contact area of the ball with the socket increases (e.g., as described with respect to FIG. 17C).

[0153] In some aspects (e.g., as described with respect to FIG. 17C), the contact area of the ball with the socket increases as pressure of the ball onto the surface increases above the threshold pressure; the socket includes a relieved area, wherein the relieved area decreases responsive to the ball being pressed onto the surface above the threshold pressure; and at least one of: at least a portion of the base area (e.g., 1714) of the socket is the relieved area; or at least a portion of the rim area (e.g., 1712) of the socket is the relieved area.|00154| In some aspects (e.g., as described with respect to FIGS. 17D-17I), the socket is relieved at an area where the channel intersects the socket; and at least one of: the channel intersects the socket at the base area of the socket; or the channel intersects the socket at the rim area of the socket.

[0155] In some aspects, the edge (e.g., 1704) of the socket (e.g., 1705) does not extend beyond the equator line (e.g., 1706) of the ball in the socket.|00156| In some aspects, the system further includes: a cover (e.g., 1719, 1723, or 1725) placed over a portion of the ball and a portion of the support, the cover configured to cover a gap (e.g., 1720) between the ball and the socket. In some aspects, the cover forms an opening (e.g., 1722) that exposes the ball, and the opening is smaller than the ball. In some aspects, the cover is configured to contribute to retaining the ball in the socket (e.g., as described with respect to FIGS. 17J-17M). In some aspects, the equator line (e.g., 1706) of the ball is between the edge (e.g., 1704) of the socket and an edge (e.g., 1724) of the opening of the cover (e.g., see FIG. 17M). In some aspects, the cover only covers a portion of the gap between the ball and the socket (e.g., see partial covers 1723 and 1724). In some aspects, the cover covers the entire gap between the ball and the socket (e.g., see full cover 1719).

[0157] In some aspects, the support includes a beveled edge (e.g., 1711).

[0158] In some aspects, the system further includes a magnet configured to contribute to retaining the ball in the socket (e.g., see FIGS. 17N and 170).

[0159] Some aspects relate to a system configured to form a part (e.g., 110) in an initial geometry into a desired geometry, the system including: a roller tool (e.g., 1300, 1701); and a robot arm (e.g., 120) configured to: (a) press the roller tool onto a surface of the part and (b) move the pressed roller tool along the surface of the part to form the desired geometry, wherein the roller tool includes: a ball (e.g., 1703); and a support (e.g., 1310, 1709) with a socket (e.g., 1705) that receives the ball and enables the ball to rotate in the socket, the socket configured to, responsive to the ball being pressed onto the surface above a threshold pressure, deform such that contact area of the ball with the socket increases (e.g., see description with respect of FIG. 17C).

[0160] In some aspects (e.g., as described with respect to FIG. 17C), the contact area of the ball with the socket increases as pressure of the ball onto the surface increases above the threshold pressure.|()01611 In some aspects (e.g., as described with respect to FIG. 17C), the socket includes a relieved area (e.g., 1713), where the relieved area decreases responsive to the ball being pressed onto the surface above the threshold pressure.|0 162| In some aspects, the system includes at least one of: at least a portion of the base area (e.g., 1714) of the socket is the relieved area; or at least a portion of the rim area (e.g., 1712) of the socket is the relieved area.|001 1 Some aspects relate to a system configured to form a part (e.g., 110) in an initial geometry into a desired geometry, the system including: a roller tool (e.g., 1300, 1701); and a robot arm (e.g., 120) configured to: (a) press the roller tool onto a surface of the part and (b) move the pressed roller tool along the surface of the part to form the desired geometry, wherein the roller tool includes: a ball (e.g., 1703); and a support (e.g., 1310, 1709) with a socket (e.g., 1705) that receives the ball and enables the ball to rotate in the socket, the support including a channel (e.g., 1717) configured to carry fluid through the support toward the ball or away from the ball.|00164] In some aspects, the socket is relieved at an area where the channel intersects the socket (e.g., see description with respect to FIGS. 17D-17I). In some aspects, the channel intersects the socket at the base area (e.g., 1714) of the socket (e.g., see FIGS. 17D-17G). In some aspects, the channel intersects the socket at the rim area of the socket (e.g., see FIGS. 17H-17I).

[0165] Other aspects include components, devices, systems, improvements, methods, processes, applications, computer readable mediums, and other technologies related to any of the above.MECHANICAL CLAMPING SYSTEMS| 00166| FIG. 21 is a diagram of a frame 2100 with clamps (e.g., 2101) configured to hold an object (e.g., a sheet of metal). Frame 2100 is rectangular in shape and includes clamps (e.g., 2101) integrated along edges of the frame 2100 to hold sides of an object (e.g., a metal sheet). Frame 2100 additionally includes a vertical bar of clamps 2110 and a horizontal bar of clamps 2105. These bars are detachable and reconfigurable to enable frame 2100 to hold different sized objects and / or to hold multiple objects at once. More specifically, the bars can be positioned at different locations in the frame and can couple to different positions of each other. For example, these bars enable frame 2100 to hold an object that isn’t large enough to reach the clamps integrated along the edges of frame 2100.1001671 Furthermore, additional, or fewer horizontal or vertical bars can be attached to frame2100. Furthermore, the vertical and / or horizontal bars may be manufactured in a variety of sizes (e.g., lengths) to accommodate different sized objects. In some embodiments, clamps integrated along edges of frame 2100 (e.g., 2101) are the same clamps as those of the horizontal bar of clamps 2105 and / or the vertical bar of clamps 2110.[00168| A horizontal bar of clamps (e.g., 2105) may be referred to as a horizontal clamping system. A vertical bar of clamps (e.g., 2110) may be referred to as a vertical clamping system. Horizontal clamping systems and vertical clamping systems are further described below. The terms “horizontal” and “vertical” are relative terms used for convenience. For example, a horizontal clamping is not required to be arranged horizontally. Similarly, a vertical clamping system is not require to be arranged vertically. Furthermore, although horizontal and vertical clamping systems are described below as having different components and features, a horizontal clamping system may have components and / or features described with respect to the vertical clamping features and vice versa. For example, the clamp described with respect to FIG. 22 may include shoulder screws and a spring as described with respect to FIG. 23.

[0169] Furthermore, components of clamping systems are described below using relative terms such as “top,” “bottom,” “side,” “below,” and “above.” These terms and similar terms are used for convenience to describe the position of one component relative to another component. These terms and similar terms do not describe a required orientation. For example, depending on the orientation of a clamping system, a “top clamp bar” may be below or next to a “bottom clamp bar.” In another example, depending on the orientation of a clamping system, a “top surface” of a component may face downward or in a lateral direction relative to the ground.HORIZONTAL CLAMPING SYSTEMS

[0170] FIGS. 22A-22G (“FIG. 22” collectively) are diagrams of an example horizontal clamping system 2200 that may be installed on a frame in a horizontal orientation. FIG. 22A is a perspective view of the horizontal clamping system 2200, where the clamps are in a closed position. FIG. 22B is a side view of the horizontal clamping system 2200, where the clamps are in an open position. FIG. 22C is a side view of the horizontal clamping system 2200, where the clamps are in a closed position. FIG. 22D is a rear view of the horizontal clamping system 2200. FIG. 22E is a front view of the horizontal clamping system 2200. FIG. 22F includes two perspective view diagrams of anend of the horizontal clamping system 2200. In the left diagram, the end clamp is in a closed position, and in the right diagram, the end clamp is in an open position. FIG. 22G includes to two exploded view diagrams of an end of the horizontal clamping system 2200.1001711 Horizontal clamping system 2200 includes a set of seven clamps adjacent to each other(other embodiments may include additional or fewer clamps), and each of the seven clamps include the same parts (other embodiments may include clamps with different parts). Each of the seven clamps may open or close about by rotating about the same axis, which is parallel to the x-axis (e.g., each of the clamps rotate about pivot points that are aligned with each other). However, for convenience, FIG. 22 only includes labels for components of clamp 2201. Any descriptions of clamp 2201 or components of clamp 2201 may be applicable to the other claims of horizontal clamping system 2200.

[0172] Clamp 2201 includes top clamp bar 2203, bottom clamp bar 2205, and screw 2207. Screw 2207 is a structure passes through hole 2227 in top clamp bar 2203 and hole 2228 in bottom clamp bar 2205. Note that a clamp (e.g., 2201) is not limited to use of a screw (e.g., 2207). More generally, a clamp may include a fastening member, such as a threaded fastening member (example threaded fastening members include a screw, a threaded rod, and a bolt). Clamp 2201 can be closed by screwing screw 2207 into hole 2228 (which results in top clamp bar 2203 moving closer to bottom clamp bar 2205) and opened by unscrewing screw 2207 from hole 2228 (which results in top clamp bar 2203 moving farther from bottom clamp bar 2205). More specifically, as clamp 2201 is closed, top clamp bar 2203 tilts forward toward bottom clamp bar 2205 as the top portion of screw 2207 translates toward bottom clamp bar 2205 (an example closed clamp position is illustrated in FIG. 22C). Similarly, as clamp 2201 is opened, top clamp bar 2203 tilts backward away from bottom clamp bar 2205 as the top portion of screw 2207 translates away from bottom clamp bar 2205 (an example open clamp position is illustrated in FIG. 22B). The titling (also referred to as rotation) of top clamp bar 2203 in clamp 2201 may be due to multiple a pivot point formed by pivot pin 2217, which is further described below.

[0173] In the perspective of FIGS. 22B-22C, top clamp bar 2203 is a block of material with a bottom surface configured to interface with an object to be held by clamp 2201. Similarly, bottom clamp bar 2205 is a block of material with a top surface configured to interface with an object to be held by clamp 2201. In the example of FIG. 22, bottom clamp bar 2205 is a single bar shared by all seven clamps, however this isn’t required.[001741 In the example of FIG. 22, top clamp bar 2203 includes a rounded edge 2233. Since top clamp bar 2203 pivots toward bottom clamp bar 2205 when clamp 2201 is being closed (counter clockwise in the perspective of FIGS. 22B-22C), rounded edge 2233 helps enable clamp 2201 to hold objects of varying thicknesses (along the z-direction).

[0175] As previously described, screw 2207 passes through hole 2227 in top clamp bar 2203 and hole 2228 in bottom clamp bar 2205. Hole 2227 may be larger than the diameter of screw 2207 enough to allow top clamp bar 2203 to pivot (e.g., by zero to five, ten, fifteen, or twenty degrees) relative to screw 2207 (and bottom clamp bar 2205), which increases the clearance for loading and unloading an object in the clamp. For example, hole 2227 has an oblong shape (e.g., hole 2227 is a slot) with the long axis being in the rotation direction of top clamp bar 2203 about the pivot point as further described below (said differently, the long axis is perpendicular to the rotational axis).

[0176] Pivot pin 2217 is a cylindrical pin (however other pin shapes are possible). In the perspective of FIGS. 22B and 22C, pivot pin 2217 is coupled to the bottom surface of top clamp bar 2203 (e.g., via screws). However, in some embodiments, pivot pin 2217 is coupled to another component, such as the top surface of bottom clamp bar 2205. Pivot pin 2217 may form a pivot point that (e.g., in conjunction with hole 2227 being larger than the diameter of screw 2207 as previously described) allows top clamp bar 2203 to rotate relative to screw 2207 (and bottom clamp bar 2205). More specifically, due to the position of pivot pin 2217 relative to bottom clamp bar 2205 and top clamp bar 2203, top clamp bar 2203 may pivot toward or away from the top surface of bottom clamp bar 2205 about an axis parallel to the x-axis. More specifically, pivot pin 2217 is positioned at rear portions of the interface surfaces of top clamp bar 2203 and bottom clamp bar 2205, which enables the front portions to pivot toward or away from each other as screw 2207 translates.

[0177] Top clamp bar 2203 (or bottom clamp bar 2205) may include a pin indent 2221 (also referred to as a recess) configured to receive at least a portion of pivot pin 2211, which may help installation of pivot pin 2211 and may help hold pivot pin 2211 in place during operation (e.g., in addition to any other fastening mechanisms, such as screws).

[0178] During opening or closing of clamp 2201, the top of screw 2207 can translate relative to bottom clamp bar 2205 (by being screwed or unscrewed). Clamp 2201 may include retaining ring 2231 coupled to a portion of screw 2207 between the interface surfaces of top clamp bar 2203 and bottom clamp bar 2205. Retaining ring 2231 may remain coupled to the same portion of screw2207, even when screw 2207 translates. Thus, in the perspective of FIGS. 22B-22C, retaining ring 2231 can push against the bottom surface of top clamp bar 2203 to push top clamp bar 2203 upward when screw 2207 is translated upward, resulting in clamp 2201 opening (more specifically, resulting in a front portion of top clamp bar 2203 pivoting away from a front portion of bottom clamp bar 2205).[00179| In the perspective of FIGS. 22B-22C and 22G, clamp 2201 includes washer 2237 on a portion of screw 2207 above top clamp bar 2203 (e.g., above the surface configured to interface with an object). Washer 2237 includes a rounded surface (e.g., a cylindrical surface or a barrel-shaped surface) that faces the top surface of top clamp bar 2203. Top clamp bar 2203 includes a rounded indent 2239 configured to receive at least part of washer 2237, which may facilitate movement (e.g., rotation) of top clamp bar 2203 relative to screw 2207.

[0180] Among other advantages, clamp 2201 enables top clamp bar 2203 and screw 2207 (as well as washer 2237, retaining ring 2231, and pivot pin 2217) to be removed from clamp 2201 by unscrewing screw 2207 past a threshold (e.g., unscrewing screw 2207 out of bottom clamp bar 2205). For example, removal of these components may make installation of horizontal clamping system 2200 on a frame easier and lighter. Furthermore, removal of these components may make it easier to place an object to be held on bottom clamp bar 2205 (and the components may be added back afterwards). Furthermore, if these components are removed (e.g., for all clamps on horizontal clamping system 2200), horizontal clamping system 2200 to be used as a support beam. For example, horizontal clamping system 2200 can be placed behind an object held in a frame (held by other clamps) to support the object and / or reduce or eliminate bending or flexing of the object (e.g., during part forming operations).

[0181] In some embodiments, a clamp (e.g., 2201) includes teeth to increase the hold of the object. For example, clamp 2201 includes serrated teeth 2229. Teeth 2229 may be a ~1 millimeter insert and may be installed in a recess in bottom clamp bar 2205 (recess is not labeled in FIG. 22). The material, shape, and structure of serrated teeth 2229 may depend on the types of objects to be held. For example, serrated teeth 2229 is configured to hold an edge of sheet metal and is made of tungsten carbide.

[0182] Vertical clamping system 2200 includes coupling elements 2241A and 2241B on sides of bottom clamp bar 2205. Coupling elements 2241A, 2241B enable horizontal clamping system 2200 to be coupled to (e.g., mounted to) a frame or another horizontal or vertical clamping system (e.g.,via bolts or screws).ADDITIONAL EXAMPLE HORIZONTAL CLAMPING SYSTEMS

[0183] Additional example embodiments of clamping systems are described below. Although references are made to vertical clamping system 2200 in the below descriptions, the example embodiments described below are not required to include the components or features previously described with respect to vertical clamping system 2200.

[0184] Some aspects relate to a mechanical clamping system (e.g., horizontal clamping system 2200) configured to hold a side of a sheet of material (e.g., 110, 520, 700, 910, 1015) in a frame (e.g., 115, 915, 2100), the mechanical clamping system including: a bottom clamp bar (e.g., bottom clamp bar 2205) with a top surface configured to interface with the sheet to be held; top clamp bars (e.g., including top clamp bar 2203) adjacent to each other and arranged along a portion of the bottom clamp bar, the top clamp bars having bottom surfaces configured to interface with the sheet to be held; screws (e.g., including screw 2207) that pass through holes in the top clamp bars (e.g., including hole 2235) and holes in the bottom clamp bar (e.g., including hole 2227) (a screw may have a long dimension that is parallel to the z-axis as illustrated in FIG. 22); and pins (e.g., including pivot pin 2217) coupled to bottom surfaces of the top clamp bars or top surfaces of the bottom clamp bar, the pins forming pivot points for bottom surfaces of the top clamp bars (e.g., about an axis parallel to the x-axis illustrated in FIG. 22) toward or away from the top surface of the bottom clamp bar.

[0185] In some aspects, the mechanical clamping system further includes retaining rings (e.g., including retaining ring 2231) coupled to portions of the screws between the top surface of the bottom clamp bar and the bottom surfaces of the top clamp bars.

[0186] In some aspects, the retaining rings are positioned on the screws to push the bottom surfaces of the top clamp bars to pivot away from the top surface of the bottom clamp bar responsive to the screws being moved upward (e.g., unscrewed for example from the bottom clamp bar and / or moved along the +z-axis as indicated in FIG. 22).[00187| In some aspects, the top clamp bars include rounded edges (e.g., including rounded edge 2233) configured to interface with sheets that have a range of thicknesses.

[0188] In some aspects, pivot axes of the pivot points are parallel to each other (e.g., see FIG. 22where the top clamp bars are arranged open or close about the same pivot point).(00189] In some aspects, the techniques described herein relate to a mechanical clamping system, wherein pivot axes of the pivot points are aligned with each other (e.g., see FIG. 22 where the top clamp bars are arranged open or close about the same pivot point).[0019()| In some aspects, the holes in the top clamp bars are oblong in directions perpendicular to pivot axes of the pivot points (e.g., see FIG. 22G, where hole 2235 is oblong in along the y-axis). Among other advantages, an oblong hole causes a top clamp bar to pivot (about an axis parallel the x-axis in FIG. 22) when the screw is moved upward (e.g., along the +z-axis) without the screw pivoting (e.g., outside of a threshold tolerance (e.g., due to spacing between threads)).[00191 j In some aspects, the mechanical clamping system further includes: washers (e.g., including washer 2237) on portions of the screws above the bottom surfaces of the top clamp bars, the washers including rounded surfaces facing the top clamp bars (e.g., see FIGS. 22B-C and 22G).

[0192] In some aspects, top surfaces of the top clamp bars include indentations (e.g., including indent 2239) shaped to receive (e.g., to match) the rounded surfaces of the washers (e.g., see FIG. 22G).1001931 In some aspects, the mechanical clamping system further includes coupling elements (e.g., coupling element 2241A and coupling element 2241B) coupled to opposite ends of the mechanical clamping system (e.g., the bottom clamp bar). The coupling elements are configured to mount the bottom clamp bar to the frame.

[0194] Other aspects include components, devices, systems, improvements, methods, processes, applications, computer readable mediums, and other technologies related to any of the above.VERTICAL CLAMPING SYSTEMS

[0195] FIGS. 23A-23I (“FIG. 23” collectively) are diagrams of an example vertical clamping system 2300 that may be installed on a frame in a vertical orientation. FIG. 23 A is a first side perspective view of a vertical clamping system 2300, where the clamps are in a closed position. FIG. 23B is second side perspective view of the vertical clamping system 2300, where the clamps are in an open position. FIG. 23C is a second side perspective view of an end of the vertical clamping system 2300, where the clamps are in a closed position. FIG. 23D is a rear view of the vertical clamping system 2300. FIG. 23E is a top view of the vertical clamping system 2300, wherethe clamps are in an open position. FIG. 23F is a top view of the vertical clamping system 2300, where the clamps are in a closed position. FIG. 23G is a rear perspective view of an end of the vertical clamping system 2300. FIG. 23H is an exploded view of an end of the vertical clamping system 2300. FIG. 231 is a front view of a portion of the vertical clamping system 2300.

[0196] Vertical clamping system 2300 includes a set of fourteen clamps, and each of the clamps include the same parts (other embodiments can include additional or fewer clamps and different clamps may include different parts). However, for convenience, FIG. 23 only includes labels for components of clamp 2301. Any descriptions of clamp 2301 or components of clamp 2301 may be applicable to the other claims of vertical clamping system 2300.

[0197] Clamp 2301 includes top clamp bar 2303, bottom clamp bar 2305, and screw 2307. Screw 2307 is a structure that passes through hole 2327 in top clamp bar 2303 and hole 2328 in bottom clamp bar 2305. Note that a clamp (e.g., 2301) is not limited to use of a screw (e.g., 2307). More generally, a clamp may include a fastening member, such as a threaded fastening member (example threaded fastening members include a screw, a threaded rod, and a bolt). Clamp 2301 can be closed by screwing screw 2307 (which results in top clamp bar 2303 moving closer to bottom clamp bar 2305) and opened by unscrewing screw 2307 (which results in top clamp bar 2303 moving farther from bottom clamp bar 2305). Pivot nut 2309 may include threads that receive threads of screw 2307.

[0198] More specifically, as clamp 2301 is closed, top clamp bar 2303 and the top portion of screw 2307 tilt forward toward bottom clamp bar 2305 in addition to top clamp bar 2303 and the top portion of screw 2307 translating toward from bottom clamp bar 2305 (an example closed clamp position is illustrated in FIG. 23F). Similarly, as clamp 2301 is opened, top clamp bar 2303 and the top portion of screw 2307 tilts backward away from bottom clamp bar 2305 in addition to top clamp bar 2303 and the top portion of screw 2307 translating away from bottom clamp bar 2305 (an example open clamp position is illustrated in FIG. 23E). The titling (also referred to as rotation) of top clamp bar 2303 and screw 2307 in clamp 2301 may be due to multiple pivot points which are further described below.

[0199] Top clamp bar 2303 (and the top portion of screw 2307) may rotate enough (or sufficiently) for an object to be placed in the clamp by traveling along the clamp direction. For example, in the view of FIG. 231, an edge of an object can contact bottom clamp bar 2305 by traveling in straight along the -z direction (in other words, straight into the page). Among otheradvantages, having top clamp bar 2303 (and the top portion of screw 2307) tilted away in the open position enables easier installation of an object (e.g., a piece of sheet metal) in the clamp, especially when the clamp is installed on a frame since the installation direction to mount an object in a frame is similar to the clamping direction. For example, in FIG. 21 an object may be inserted into the clamps on frame 2100 by moving an object along the -z direction, which is also the clamping force direction.

[0200] In the perspective of FIGS. 23E-23F, top clamp bar 2303 is a block of material with a bottom surface configured to interface with an object to be held by clamp 2301. Similarly, bottom clamp bar 2305 is a block of material with a top surface configured to interface with an object to be held by clamp 2301. In the example of FIG. 23, bottom clamp bar 2305 is a single bar shared by all fourteen clamps, however this isn’t required.

[0201] In the example of FIG. 23, top clamp bar 2303 includes a rounded edge 2333. Since top clamp bar 2303 pivots toward bottom clamp bar 2305 when clamp 2301 is being closed (counter clockwise in the perspective of FIG. 23E), rounded edge 2333 helps enable clamp 2301 to hold objects of varying thicknesses (along the z-direction).1002021 Clamp 2301 includes pivot nut 2309, however note that a clamp (e.g., 2301) is not limited to use of a nut (e.g., 2309). More generally, a clamp may include a (e.g., threaded) receiving member for a (e.g., threaded) fastening member (e.g., 2307). Pivot nut 2309 is coupled to a portion of screw 2307 below bottom clamp bar 2305 (e.g., below the clamping interface of bottom clamp bar 2305). The exterior surface of pivot nut 2309 facing bottom clamp bar 2305 has a rounded shape, such as a cylindrical shape or a barrel shape. Bottom clamp bar 2305 may include indent 2325 (also referred to as a socket or recess) shaped to receive a portion of pivot nut 2309, which helps pivot nut 2309 rotate about an axis parallel to the y-axis. For example, indent 2325 includes a rounded surface that receives the rounded exterior surface of pivot nut 2309.

[0203] As previously described, pivot nut 2309 is coupled to a portion of screw 2307 below bottom clamp bar 2305. During opening or closing of clamp 2301, screw 2307 translates relative to pivot nut 2309. An end nut 2347 is coupled to the end of screw 2307 and configured to prevent screw 2307 from being further unscrewed when end nut 2347 contacts pivot nut 2309. Thus, end nut 2347 restricts movement of screw 2307 (e.g., compare the position of end nut 2347 relative to pivot nut 2309 in FIGS. 23E and 23F), which also affects the maximum distance between top clamp bar 2303 and bottom clamp bar 2305 in the clamp’s open position. Among other advantages, endnut 2347 prevents screw 2307 from being unscrewed past a threshold, thus preventing screw 2307 and top clamp bar 2303 from being unintentionally released from clamp 2301 during operation (e.g., if screw 2307 were unscrewed too much).(00204 j Clamp 2301 includes pivot pin 2311. Pivot pin 2311 is a cylindrical pin arranged to engage with a side of pivot nut 2309 (however other pin shapes are possible). Pivot pin 2311 may help hold pivot nut 2309 in place near the bottom clamp bar 2305 (e.g., in indent 2325), while allowing pivot nut 2309 to rotate about an axis parallel to the y-axis. Thus pivot pin 2311 engaged with pivot nut 2309 may form a “first” pivot point which allows screw 2307 (and top clamp bar 2303) to tilt forward when clamp 2301 is closed and tilt backward when clamp 2301 is opened. In the example of FIG. 23, an end of pivot pin 2311 rests in an indent 2315 of pivot nut 2309 and engages with sides of pivot nut 2309 formed by indent 2315 to help pivot nut 2309 rotate about an axis parallel to the y-axis. Said differently, pivot nut 2309 includes a rounded wall 2313 that extends outward (in the -y direction), and the end of pivot pin 2311 is positioned to engage with the inner side of wall 2313 to form the pivot point. Clamp 2301 additionally includes a second pivot pin with an end that rests in an indent on the opposite side of pivot nut 2309 (the second pivot pin and indent are not labeled in FIG. 23). Having pivot pins engaged with opposite ends of pivot nut 2309 may help hold pivot nut 2309 in place and help stabilize rotation of pivot nut 2309 during operation. In some embodiments, a second end of the second pivot pin engages with a pivot nut of an adjacent clamp (e.g., see FIG. 23G).

[0205] In some embodiments, bottom clamp bar 2305 includes pin indent 2319 (also referred to as a recess) configured to receive at least a portion of pivot pin 2311, which may help installation of pivot pin 2311 and may help hold pivot pin 2311 in place during operation (e.g., in addition to any other fastening mechanisms, such as screws). In the example of FIG. 23, pivot pin 2311 is directly coupled to a bottom surface of bottom clamp bar 2305 (e.g., pivot pin 2311 rests in pin indent 2319). However, this is not required. For example, pivot pin 2311 is held in place by being coupled to another surface or structure (e.g., it is coupled to wall 2343).

[0206] As previously described, screw 2307 passes through hole 2327 in top clamp bar 2303 and hole 2328 in bottom clamp bar 2305. Hole 2328 may be large enough to allow screw 2307 to tilt (e.g., when clamp 2301 is opened or closed during operation), which increases the clearance for loading and unloading an object in the clamp. For example, hole 2328 has an oblong shape (e.g., hole 2328 is a slot), with the long axis being in the rotation direction of screw 2307 about the firstpivot point. Similarly, hole 2327 may be large enough to allow top clamp bar 2303 to pivot (e.g., by a few degrees) relative to screw 2307 (and bottom clamp bar 2305), which also increases the clearance for loading and unloading an object in the clamp For example, hole 2327 has an oblong shape (e.g., hole 2327 is a slot) with the long axis being in the rotation direction of screw 2307 about the first pivot point (or in the rotation direction of top clamp bar 2303 about the second pivot point as further described below).

[0207] Pivot pin 2317 is a cylindrical pin (however other pin shapes are possible). In the perspective of FIGS. 23E and 23F, pivot pin 2317 is coupled to the bottom surface of top clamp bar 2303. Pivot pin 2317 may form a “second” pivot point that (e.g., in conjunction with hole 2327 being larger than the diameter of screw 2307 as previously described) allows top clamp bar 2303 to rotate relative to screw 2307 (and bottom clamp bar 2305). More specifically, due to the position of pivot pin 2317 relative to bottom clamp bar 2305 and top clamp bar 2303, top clamp bar 2303 may rotate toward or away from the top surface of bottom clamp bar 2305 about an axis parallel to the y- axis (this rotation may be in addition to, or alternative to, rotation about the first pivot point formed by pivot pin 2311 and pivot nut 2309).

[0208] In the perspective of FIGS. 23E-23F, pivot pin 2317 may rest on the top surface of bottom clamp bar 2305 while clamp 2301 is in a closed position (e.g., FIG. 23F). As clamp 2301 is opened (e.g., by unscrewing screw 2307), pivot pin 2317 moves along the top surface due to rotation of screw 2307 about the first pivot point. If clamp 2301 is opened wide enough, pivot pin 2317 can move off the back edge of bottom clamp bar 2305 and rest on a side of wall 2343 (e.g., see FIG. 23E). Among other advantages, movement of pivot pin 2317 off the edge, may enable clamp 2301 to open further (as opposed to keeping pivot pin 2317 on the top surface of bottom clamp bar 2305).

[0209] Top clamp bar 2303 (or bottom clamp bar 2305) may include a pin indent 2321 (also referred to as a recess) configured to receive at least a portion of pivot pin 2311, which may help installation of pivot pin 2311 and may help hold pivot pin 2311 in place during operation (e.g., in addition to any other fastening mechanisms, such as screws).

[0210] In the perspective of FIGS. 23E-23F, clamp 2301 includes washer 2337 on a portion of screw 2307 above top clamp bar 2303 (e.g., above the surface configured to interface with an object). Washer 2337 includes a rounded surface (e.g., a cylindrical surface or a barrel-shaped surface) that faces the top surface of top clamp bar 2303. Top clamp bar 2303 includes a rounded indent 2339 configured to receive at least part of washer 2337, which may facilitate movement (e.g.,rotation) of top clamp bar 2303 relative to screw 2307.

[0211] As previously described, screw 2307 (and top clamp bar 2303) can rotate about the first pivot point as clamp 2301 is opened (e.g., by unscrewing screw 2307). This rotation may be due to spring 2323 applying a force to rotate screw 2307. Spring 2323 is coupled to ends of shoulder screw 2330 and shoulder screw 2331. Spring 2323 applies a force to bring the ends of the shoulder screws together. Shoulder screw 2330 is coupled to and extends away from a back side of top clamp bar 2303 (e.g., see FIGS. 23E and 23F). Shoulder screw 2330 can act as a lever to rotate top clamp bar 2303 about the first pivot point. Shoulder screw 2331 is coupled to and extends away from wall 2343 (in other words shoulder screw 2331 extends in the +x-direction). Although a helical spring is illustrated in the example of FIG. 23, other types of springs and other types of force applicator mechanisms may be used apply a force to move screw 2307 about the first pivot point and / or to bring ends of the shoulder screws together.|00212] In some embodiments, a clamp (e.g., 2301) includes teeth to increase the hold of the object. For example, clamp 2301 includes serrated teeth 2329. Teeth 2329 may be a ~1 millimeter insert and may be installed in a recess in bottom clamp bar 2305 (recess is not labeled in FIG. 23). The material, shape, and structure of serrated teeth 2329 may depend on the types of objects to be held. For example, serrated teeth 2329 is configured to hold an edge of sheet metal and is made of tungsten carbide.(00213] Vertical clamping system 2300 includes coupling elements 2341A and 2341B on sides of bottom clamp bar 2305. Coupling elements 2341A, 2341B enable vertical clamping system 2300 to be coupled to (e.g., mounted to) a frame or another horizontal or vertical clamping system (e.g., via bolts or screws).ADDITIONAL EXAMPLE VERTICAL CLAMPING SYSTEMS|00214] Additional example embodiments of clamping systems are described below. Although references are made to vertical clamping system 2300 in the below descriptions, the example embodiments described below are not required to include the components or features previously described with respect to vertical clamping system 2300.

[0215] Some aspects relate to a mechanical clamping system (e.g., vertical clamping system 2300) configured to hold an object (e.g., 110, 520, 700, 910, 1015), the mechanical clamping systemincluding: a bottom clamp bar (e.g., bottom clamp bar 2305) with a top surface configured to interface with the object to be held; a top clamp bar (e.g., top clamp bar 2303) with a bottom surface configured to interface with the object to be held; a screw (e.g., screw 2307) that passes through a first hole (e.g., hole 2327) in the top clamp bar and a second hole (e.g., hole 2328) in the bottom clamp bar; a pivoting nut (e.g., pivot nut 2309) coupled to a portion of the screw below the top surface of the bottom clamp bar; and a pivoting pin (e.g., pivot pin 2311) arranged below the top surface of the bottom clamp bar and engaged with a side of the pivoting nut to form a pivot point enabling the screw to pivot about the pivot point.

[0216] In some aspects, the pivoting nut includes a curved wall (e.g., wall 2313) and an end of the pivoting pin engages with the curved wall to form the pivot point.[00217| In some aspects, a surface of the pivoting nut includes an indentation (e.g., indent 2315) and an end of the pivoting pin engages with the indentation to form the pivot point. For example, the end of the pivoting pin rests in the indentation and the pivot point is formed by the end of the pivoting pin contacting a side of the indentation.

[0218] In some aspects, the pivoting pin is coupled to a bottom surface of the bottom clamp bar (e.g., see FIG. 23G) e.g., via one or more screws.[00219 J In some aspects, the pivoting pin (e.g., pivot pin 2311) at least partially rests in an indentation (e.g., pin indent 2319) of the bottom surface of the bottom clamp bar.

[0220] In some aspects, a bottom surface of the bottom clamp bar includes an indentation (e.g., indent 2325) shaped to receive at least a portion of the pivoting nut. Due to this, the pivoting nut can rest in the indentation. The indentation may have a cylindrical or barrel shaped recess to receive (e.g., to match) the exterior surface of the pivoting nut (e.g., in embodiments where the pivoting nut has a cylindrical or barrel-shaped exterior surface shape).

[0221] In some aspects, the top clamp bar includes a rounded edge (e.g., rounded edge 1733) configured to interface with the object to be held. Among other advantages, the rounded edge enables the mechanical clamping system to hold objects of different thicknesses.

[0222] In some aspects, the mechanical clamping system further includes a second pivot pin (e.g., pivot pin 2317) coupled to a rear portion of the bottom surface of the top clamp bar, the second pivot pin configured to (e.g., when in contact with the top surface of the bottom clamp bar) form a second pivot point for the top clamp bar (e.g., see FIGS. 23E-F).[00223 j In some aspects, the bottom surface of the top clamp bar includes an indentation (e.g., pin indent 2319) shaped to receive at least a portion of the second pivot pin (e.g., pivot pin 2317). Due to this, the second pivot pin can rest in the indentation. The indentation may have a cylindrical shaped recess to receive (e.g., to match) the exterior surface of the second pivot pin (e.g., in embodiments where the second pivot pin has a cylindrical exterior surface shape).[002241 In some aspects, the mechanical clamping system, further includes a spring (e.g., spring 2323) coupled to the top clamp bar and the bottom clamp bar, the spring applying a force to rotate the screw about the pivot point (e.g., pivot point formed by pivot pin 2311 and / or pivot point formed by pivot pin 2317). The spring is applying a force to move the top clam bar 2303 into an open position. In the example of FIG. 23F, the spring 2323 is applying a force to rotate the top clamp bar 2303 counter clockwise. Thus, when the screw 2307 is moved upward (e.g., unscrewed), the top clamp bar 2303 the top clamp bar 2303 tilts away from the top surface of the bottom clamp bar 2305 (FIG. 23E illustrates the top clamp bar 2303 tilted backward).

[0225] In some embodiments, a first end of the spring is coupled to a first shoulder screw which is coupled to and protruding from a backside of the top clamp bar, and a second end of the spring is coupled to a second shoulder screw that is coupled to the bottom clamp bar (e.g., directly coupled to the bottom clamp bar or coupled to a rear wall which is coupled to the bottom clamp bar (e.g., see FIG. 23).

[0226] Other aspects include components, devices, systems, improvements, methods, processes, applications, computer readable mediums, and other technologies related to any of the above.MECHANICAL CLAMPS

[0227] Some embodiments relate to a mechanical clamp configured to hold an object (e.g., a sheet of metal) that may be integrated into a frame (e.g., frame 115 or 915).

[0228] FIGS. 24A-24K (“FIG. 24” collectively) are diagrams of a mechanical clamp 2400, according to an embodiment. FIG. 24A is a perspective view of the clamp 2400, where the clamp is in an open position. FIG. 24B is a perspective view of the mechanical clamp 2400, where the clamp is in a closed position (with no object in the clamp). FIG. 24C is a perspective view of the mechanical clamp 2400, where the clamp is in a closed position (holding an object that is not illustrated). FIG. 24D is an exploded view of the mechanical clamp 2400. FIGS. 24E-24F are rearview perspective diagrams of the clamp 2400 in different clamping positions (note that the bottom clamp interface 2405 is omitted). FIG. 24E illustrates the clamp in an open position, FIG. 24G illustrates the clamp in a closed position, and FIG. 24F illustrates the clamp in an intermediate position. FIGS. 24H-24I are side views of the claim 2400 in different positions (note that the bottom clamp interface 2405 is omitted). FIG. 24J illustrates the clamp 2400 in a clamp frame 2450. More specifically, FIG. 24J includes views of the clamp 2400 (in the clamp frame 2450) in three different positions. In the left diagram, the clamp 2400 is in an open position. In the right diagram, the clamp 2400 is in a closed position with no object in the clamp 2400. In the middle diagram, the clamp 2400 is in a closed position with object 2466 in the clamp. The clamp frame 2450 houses the clamp 2400 (it may house additional clamps as well). FIG. 24J additionally illustrates an alignment angle 2455 that is the angle formed between compression axis 2456 and base link axis 2457. FIG. 24K provides a perspective view of the clamp 2400 the clamp frame 2450 (the left diagram illustrates the clamp 2400 in a closed position and the right diagram illustrates the clamp 2400 in an open position). FIG. 24K additionally indicates a link pivot point 2451, a clamp pivot point 2452, and an actuator pivot point 2453 (a pivot point may be formed via coupling elements that form a joint (e.g., by the coupling elements interlocking and a pin inserted through the coupling elements)).100229 J Clamp 2400 includes actuator 2407, base link 2411, clamp arm 2402, and compressible link 2406.{00230] Actuator 2407 is a device that converts energy (e.g., electrical or hydraulic) into physical motion (e.g., actuator 2407 is or includes a hydraulic or pneumatic cylinder). First actuator end 2413 can extend or retract. A second end of actuator 2407 is coupled to clamp frame 2450 via actuator pivot point 2453 and can rotate about the actuator pivot point 2453 (e.g., compare the actuator position in the left and right diagrams of FIG. 24K).{00231] Base link 2411 is a link of material (e.g., metal) with first link end 2412 and second link end 2410. The base link 2411 is coupled to the clamp frame 2450 via the link pivot point 2451 and can rotate about the link pivot point 2451 (e.g., compare the base link 2411 position in the left and right diagrams). More specifically, first link end 2412 is part of a hinge that couples base link 2411 to clamp frame 2450. The hinge forms link pivot point 2451 and enables second link end 2410 to rotate about link pivot point 2451. Second link end 2410 is movably (e.g., rotatably) coupled to first actuator end 2413. Thus, extension or retraction of first actuator end 2413 results in second link end2410 rotating about link pivot point 2451.(00232] Clamp arm 2402 includes clamp interface 2401, first arm coupling element 2403, and second arm coupling element 2404. Clamp interface 2401 is configured to interface with a surface of the object to be held. For example, clamp interface 2401 is a bar of material (e.g., metal). Clamp arm 2402 is coupled to the clamp frame 2450 via the clamp pivot point 2452 and can rotate about the clamp pivot point 2452 (e.g., compare the clamp arm 2402 position in the left and right diagrams). More specifically, second arm coupling element 2404 is part of a hinge that couples clamp arm 2402 to clamp frame 2450. The hinge forms clamp pivot point 2452 and enables clamp interface 2401 and first arm coupling element 2403 to rotate about clamp pivot point 2452.(00233] Although the pivot points described above are relative to clamp frame 2450, this is not required. For example, a component (e.g., base link 2411) may form a pivot point (e.g., link pivot point 2451) with another component or object.(00234] Compressible link 2406 includes pivot link 2409 and spring 2408. Compressible link 2406 is a link that couples clamp arm 2402 to base link 2411. More specifically, compressible link 2406 couples first arm coupling element 2403 of clamp arm 2402 to second link end 2410 of base link 2411. Compressible link 2406 includes one or more components (e.g., spring 2408) that can compress along compression axis 2456 (e.g., see FIG. 24J). Examples of compressible link 2406 compressed are illustrated in FIGS. 24C and the middle diagram of FIG. 24 J (notice the springs are compressed).(00235] The stiffness of spring 2408 may depend on the type of object to be held and the number of springs in compressible link 2406. In the example of FIG. 24, spring 2408 is a helical spring. However, any variation of spring may be used, such as a torsion spring or leaf spring. In FIG. 24, a set of four springs are illustrated. However, additional or fewer springs may be used.|00236] Pivot link 2409 is a link with (a) first portion 2430 that couples with second link end 2410 to form a hinge (that enables rotation) and (b) a second portion 2432 (e.g., a plate with a hole) configured to press against spring 2408.100237] Clamp 2400 may include bottom clamp interface 2405 configured to interface with a surface of the object to be held. For example, bottom clamp interface 2405 is a bar of material (e.g., metal). Thus, an object held by clamp 2400 may be held between bottom clamp interface 2405 and clamp interface 2401.[00238 J In the clamp open position, first actuator end 2413 is in a retracted position. In the open position, alignment angle 2455 is small (e.g., see left diagram of FIG. 24J). To close clamp 2400, first actuator end 2413 is extended (upward in the perspective of FIG. 24 J). Extension of first actuator end 2413 causes second link end 2410 to rotate (e.g., counterclockwise in the perspective of FIG. 24 J). Rotation of second link end 2410 causes compressible link 2406 to apply a force to clamp arm 2402 to rotate it about clamp pivot point 2452 (e.g., clockwise in the perspective of FIG. 24 J). During closing motion alignment angle 2455 increases. Example closing motions may be seen by viewing the transition from FIG. 24A to FIG. 24B or 24C, the transition from FIG. 24E to 24G, the transition from the left diagram of FIG. 24 J to the middle or right diagram of FIG. 24 J, or the transition from the left diagram of FIG. 24K to the right diagram of FIG. 24K.(00239] During closing motion, if no object is positioned between clamp interface 2401 and bottom clamp interface 2405, clamp arm 2402 continues to rotate until clamp interface 2401 contacts bottom clamp interface 2405 and / or first actuator end 2413 reaches an end extension position. However, if an object is positioned between clamp interface 2401 and bottom clamp interface 2405 during closing motion, clamp arm 2402 rotates until clamp interface 2401 contacts the object. After contact, compressible link 2406 may compress as first actuator end 2413 continues to extend, thus applying a clamping force to the object.[002401 Among other advantages, clamp 2400 may apply a stronger clamping force on thicker objects due to the compressible link being further compressed for thicker objects. This is advantageous because thicker objects are typically heavier and thus require stronger forces to hold them in place.[00241 J In some embodiments, clamp 2400 includes a locked closed position due the components forming an over center mechanism. In the locked closed position, clamp 2400 may remain in the closed position even if actuator 2407 applies little or no force to keep first actuator end 2413 at the extended position or to move first actuator end 2413 to a further extended position. For example, in the locked closed position, clamp 2400 may remain closed even if actuator 2407 fails. The locked closed position may occur when alignment angle 2455 is larger than 180 degrees. After alignment angle 2455 is larger than 180 degrees, compressible link 2406 applies a force to continue rotating base link 2411 in the closed direction (which is counterclockwise in the perspective of FIG. 24 J). Note that base link 2411 may be prevented from continuing to rotate in the closed direction past a threshold point, for example due to first actuator end 2413 reaching a maximum extended positionor due to another mechanism that prevents further rotation of base link 2411.(002421 The locked closed position is also advantageous because it results in clamp 2400 applying a consistent clamping pressure. More specifically, in the locked closed position, the clamping pressure is from the force applied by compressible link 2406, which may be consistent and reliable. This contrasts with conventional clamps that rely on a hydraulic cylinder to apply the clamping pressure (since hydraulic cylinders may be less reliable and less consistent than the clamping force applied by compressible link 2406).

[0243] Clamp 2400 may be modified in many ways but still achieve similar advantages. For example, instead of actuator 2407 being located below base link 2411, actuator 2407 may be above base link 2411 (e.g., in the perspective of FIG. 24 J). In this configuration, the open clamp position may correspond to first actuator end 2413 being in an extended position and the closed clamp position may correspond to first actuator end 2413 being in a retracted position.

[0244] FIG. 25 is a perspective diagram that illustrates an example series of clamps (e.g., including clamp 2400) adjacent to each other on a side of a frame (e.g., frame 115, 910).

[0245] FIG. 26 is a diagram of an example frame 2600 that includes clamps around the edges (e.g., including clamp 2400). The clamps are holding three different metal sheets (labeled sheet A, sheet B, and sheet C). Clamps along the top portion of the frame 2600 are labeled T1-T13. Clamps along the bottom portion of the frame 2600 are labeled Bl -Bl 3. Each of the clamps on the top and bottom portions can be independently controlled via the hydraulic supply and control system 2605. Among other advantages, independently controlling clamps enables frame 2600 to independently hold multiple objects at once (three metal sheets in this example). For example, sheet A can be released from frame 2600 while sheets B and C continue to be held in place.

[0246] Frame 2600 also includes vertical bars of clamps (not labeled). These vertical bars may be repositionable on frame 2600 to enable frame 2600 to hold objects of different sizes. Each of the clamps on a vertical bar may be independently controlled by the hydraulic supply and control system 2605. However, in some embodiments, clamps on a vertical bar (“vertical clamps”) may be coupled to a clamp on the top or bottom portion (“horizontal clamp”) to enable the vertical clamps to be opened or closed with the corresponding horizontal clamp.

[0247] FIG. 27 illustrates diagrams of another example clamp 2700. The left diagram illustrates the clamp 2700 in an open position, the middle diagram illustrates the clamp 2700 in a closedposition, and the right diagram illustrates the clamp 2700 in a closed locked position. Similar to clamp 2400, clamp 2700 includes an actuator 2707, a base link 2711, a compressible link 2706, a clamp arm 2702 and a bottom clamp interface 2705.ADDITIONAL EXAMPLE CLAMPS(00248 | Additional example embodiments of clamps are described below. Although references are made to previous clamps (e.g., 2400) in the below descriptions, the example embodiments described below are not required to include the components or features previously described.(002491 Some aspects relate to a mechanical clamp (e.g., clamp 2400) configured to hold an object, the mechanical clamp including: an actuator (e.g., 2407) having an end (e.g. 2413) that is movable; a base link (e.g., 2411) with a first link end (e.g., 2412) configured to be movably coupled to a link pivot point (e.g., 2453) and with a second link end (e.g., 2410) movably coupled to the end of the actuator, movement of the end of the actuator to cause the second link end to rotate about the link pivot point; a clamp arm (e.g., 2402) including: a front clamp interface (e.g., 2401) configured to interface with a surface of the object to be held (e.g., object 2466); a first arm coupling element (e.g., 2403); and a second arm coupling element (e.g., 2404) mounted to a clamp pivot point (e.g., 2452), the first arm coupling element and the clamp interface configured to rotate about the clamp pivot point; and a compressible link (e.g., 2406) (e.g., with a spring) configured to compress along a compression axis, the compressible link coupling the second link end with the first arm coupling element, rotation of the second link end about the link pivot point to cause the compressible link to exert force against the first arm coupling element.

[0250] As previously described, the mechanical clamp comprises components that work together to hold an object securely in place (in other embodiments, similar or different variations of component types may be used). The mechanical clamp operates (in part) by rotating about the link pivot point. When the actuator is pushed in an open position (as further illustrated in FIG. 24J), the base link rotates about the link pivot point (e.g., 2451). This rotation may compress the compressible link which, in turn, may apply force to the clamp arm. As a result, the clamp arm may press onto an object to secure it.[002511 In some aspects, the techniques described herein relate to a mechanical clamp, wherein the second link end rotation about the link pivot point causes the compressible link to exert force against the first arm coupling element in a rotation direction about the clamp pivot point.

[0252] In some aspects, the techniques described herein relate to a mechanical clamp, wherein (a) rotation of the second link end about the link pivot point in a first direction and (b) the clamp interface in contact with the object causes the compressible link to compress along the compression axis (e.g., see the middle diagram of FIG. 24J where the springs are compressed). In the perspective of FIG. 24 J, the second link end may rotate about the link pivot point in a counterclockwise direction. However, the second link end may rotate about the link pivot point in multiple directions- such as clockwise.

[0253] In some aspects, the techniques described herein relate to a mechanical claim, wherein (a) rotation of the second link end about the link pivot point in a second direction different than the first direction and (b) the clamp interface in contact with the object causes the compressible link to decompress along the compression axis (e.g., the transition from the middle diagram of FIG. 24J to the left diagram of FIG. 24J. In this situation, the second link end rotates about the link pivot point in a clockwise direction, which results in the compressible link (e.g., the spring 2408) decompressing.100254] In some aspects, the techniques described herein relate to a mechanical clamp, wherein (a) rotation of the second link end about the link pivot point in a second direction different than the first direction and (b) the clamp interface in contact with the object causes the first arm coupling element and the clamp interface to rotate about the clamp pivot point.{00255] In some aspects, the techniques described herein relate to a mechanical clamp, wherein (a) rotation of the second link end about the link pivot point and (b) the absence of contact between the clamp interface and the object causes the first arm coupling element and the clamp interface to rotate about the clamp pivot point.| 00256] In some aspects, the techniques described herein relate to a mechanical clamp, wherein the second link end rotation about the link pivot point causes an alignment angle (e.g., alignment angle 2455) between (a) an axis extending between the first link end and the second link end (e.g., a base link axis 2457 illustrated in FIG. 24J) and (b) the compression axis (e.g., a compression axis 2456 illustrated in FIG. 24J) to increase or decrease.|B0257] In some aspects, the techniques described herein relate to a mechanical clamp, wherein the base link, the clamp arm, and the compressible link form an over-center mechanism. The overcenter mechanism may locks into position after it is of a certain alignment angle. This isadvantageous because this allows for the mechanical clamp to lock in place in a closed position, providing a secure and stable hold. In application, this can allow for the mechanical clamp to securely hold objects.100258) In some aspects, the techniques described herein relate to a mechanical clamp, further including a second clamp arm (e.g., that includes bottom clamp interface 2405) including: a second clamp interface configured to interface with a second surface of the object to be held; and the clamp pivot point.[00259) In some aspects, the techniques described herein relate to a mechanical clamp, wherein the compressible link includes: a pivot link (e.g., 2409) coupled to the second link end; and a spring (e.g., 2408) with a first end coupled to the first arm coupling element and a second end coupled to the pivot link.[00260) In some aspects, the techniques described herein relate to a mechanical clamp, wherein the pivot link and the second link end of the base link form a joint (e.g., a hinge).

[0261] In some aspects, the techniques described herein relate to a mechanical clamp, wherein the clamp interface is part of a clamp bar.100262) In some aspects, the techniques described herein relate to a mechanical clamp, wherein a clamping force of the mechanical clamp depends on a thickness of the object.

[0263] In some aspects, the techniques described herein relate to a mechanical clamp, wherein the clamping force of the mechanical clamp increases with increasing thickness.|00264] In some aspects, the techniques described herein relate to a mechanical clamp, wherein: the actuator is controlled to move the end between a first position and a second position; and wherein the mechanical clamp is configured to hold objects of different thicknesses by the actuator moving the end from the first position to the second position.

[0265] In some aspects, the techniques described herein relate to a mechanical clamp, wherein: object has a first thickness, and the mechanical clamp is configured to hold the object by the actuator moving the end from a first position to a second position; and a second object has a second thickness different that the first thickness, and the mechanical clamp is configured to hold the second object by the actuator moving the end from the first position to the second position.

[0266] In some aspects, the techniques described herein relate to a clamping system including: a set of two or more mechanical clamps, at least one mechanical clamp of the set including: anactuator having an end that is movable; a base link with a first link end coupled to a link pivot point and a second link end coupled to the end of the actuator, movement of the end of the actuator causing the second link end to rotate about the link pivot point; a clamp arm including: a clamp interface configured to interface with an object to be held; a first arm coupling element; and a second arm coupling element mounted to a clamp pivot point, the first arm coupling element and the clamp interface configured to rotate about the clamp pivot point; and a compressible link configured to compress along a compression axis, the compressible link coupling the second link end with the first arm coupling element, rotation of the second link end about the link pivot point causing the compressible link to exert force against the first arm coupling element; and a control system configured to control the set of clamps.(00267J In some aspects, the techniques described herein relate to a clamping system, wherein each of the mechanical clamps in the set include an actuator, a base link, a clamp arm, and a compressible link.(00268] In some aspects, the techniques described herein relate to a clamping system, wherein the set of further including a clamp bar shared by the mechanical clamps in the set, wherein each of the clamp arms of the mechanical clamps in the set are configured to rotate toward the clamp bar to hold an object.

[0269] In some aspects, the techniques described herein relate to a clamping system, wherein: the set of clamps are arranged on a rectangular frame; and the set of clamps includes: a first subset of clamps arranged on a bottom portion of the rectangular frame; a second subset of clamps arranged on a top portion of the rectangular frame; a third subset of clamps arranged on a first vertical portion of the rectangular frame; and a fourth subset of clamps arranges on a second vertical portion of the rectangular frame, wherein: the control system is configured to individually control each of the clamps in the first subset and in the second subset; control of the third subset of clamps is based on control of a first clamp in the first subset or the second subset; and control of the fourth subset of clamps is based on control of a second clamp in the first subset or the second subset.100270] In some aspects, the techniques described herein relate to a system of clamps to passively clamp an object, the system including: a clamp bar; a hydraulic center; a pivot link coupled to a base link to: receive a coupling of preloaded springs for a clamping bar; receive pressure from the hydraulic center; and apply pressure from the hydraulic center to the clamp bar; a base link coupled to the pivot link, the pivot link configured to: (i) apply the pressure from the hydraulic center to theclamp bar, wherein the pivot link bar and the clamping bar are orthogonal to the hydraulic center; and (ii) apply pressure to close the clamping bar.

[0271] Other aspects include components, devices, systems, improvements, methods, processes, applications, computer readable mediums, and other technologies related to any of the above.DEPLOYABLE ROBOTIC SYSTEMS[002721 Some embodiments relate to deployable robotic systems with an unfolded configuration that forms a robotic part forming system (such as the robotic sheet metal part forming system described with respect to FIG. 1) and with a folded configuration that forms one or more transportable structures. For example, a structure may resemble and / or be treated as a transportable container, such as an intermodal freight shipping container. A structure may even be compliant for transportation as a container (e.g., a structure is certified as an intermodal freight shipping container).

[0273] Among other advantages, the deployable robotic system in the folded configuration can be conveniently transported to a new location, transformed (e.g., via unfolding) into the robotic part forming system, and then controlled to perform robotic part forming operations at the new location (as opposed to shipping individual components to the new location and then (e.g., manually) assembling the robotic part forming system at the new location). In some embodiments, after the part forming operations are complete, the deployable robotic system may be transformed back into the folded configuration (with the part forming components contained in the folded configuration) and conveniently moved to another location.

[0274] Furthermore, a structure of the folded configuration may have one or more physical aspects or qualities of an intermodal freight shipping container. For example, the structure is classified, certified, considered, treated, or any combination thereof as an intermodal freight shipping container (e.g., by the ISO, a shipping transport vehicle, a piece of shipping equipment, a shipping company, or any combination thereof). An intermodal freight shipping container may refer to a standardized crate designed and built for intermodal freight transport, meaning the container can be used across different modes of transport - such as from ships to trains to trucks - without unloading and reloading its cargo. Intermodal freight shipping containers come in various sizes offering versatility for different freight needs.1002751 A structure of a deployable robotic system with physical aspects or qualities of an intermodal freight shipping container may allow the structure to be transported using the same or similar methods as intermodal freight shipping containers and / or transported with other intermodal freight shipping containers (e.g., on a container ship, train, and / or truck configured to transport one or more intermodal freight shipping containers).(002761 Physical aspects and quantities of intermodal freight shipping containers (e.g., external dimensions and stacking strength) may be defined by a standards entity. A standards entity develops and sets standards for intermodal freight shipping containers. For example, a standards entity defines the sizes, shapes, external dimensions, maximum gross mass, and stacking strength for intermodal freight shipping containers. In another example, a standards entity defines coupling mechanisms for intermodal freight shipping containers (e.g., the sizes, shapes, dimensions, and stacking strength).( 00277) A standards entity may be an independent, non-governmental, international standard development organization. An example standards entity is the International Organization for Standardization (ISO). Standards of the ISO for intermodal freight shipping containers are specified in documents including: “ISO 668 - Series 1 freight containers - Classification, dimensions and ratings” (referred to herein as “ISO 668”), “ISO 1161 Series 1 freight containers - Comer and intermediate fittings — Specifications” (referred to herein as ISO 1161), and “ISO 1496-1 Series 1 freight containers - Specification and testing” (referred to herein as “ISO 1496-1”). A structure that complies with ISO standards for intermodal freight shipping containers may be referred to as an “ISO structure.”| 00278J A structure of a deployable robotic system may satisfy one or more (e.g., all applicable) standards for intermodal freight shipping containers defined by a standards entity (e.g., the ISO). Example standards are further described below.(00279) A structure includes frames that may form a rectangular prism. In some embodiments, a structure of a deployable robotic system has one or more external dimensions (e.g., a height, length, width, or any combination thereof) that satisfy one or more standards for external dimensions of intermodal freight shipping containers defined by a standards entity. For example, the structure has one or more external dimensions that satisfies one or more external dimensions defined by ISO 668. In another example, the structure has one or more external dimensions consistent with the external dimensions in Table 1 (see FIG. 35). In some embodiments, the following elements or aspects mayhelp achieve a structure of a deployable robotic system that satisfies one or more external dimension standards: a side frame (e.g., 2816) that folds down to become part of the base of the part forming system and provides a large deployed footprint; the robotic arm (e.g., 2803) can be pushed outwards onto the side frame allowing for a larger distance from the robot arm to the forming frame (e.g., 2802); a forming frame that moves upwards to a final height to match the needs of the robot arm size (e.g., see FIGS. 29I-29K); or any combination thereof.

[0280] In some embodiments, a structure of a deployable robotic system has a gross mass (total weight) that satisfies a maximum gross mass standard of a standards entity. For example, the structure has a gross mass that satisfies a maximum gross mass standard defined by ISO 668. In another example, the structure has a gross mass less than a maximum gross mass specified in Table 1 (see FIG. 35). To satisfy a gross mass standard, a deployable robotic system (e.g., 2800) may have multiple portions (e.g., 2829 and 2831) to spread out the gross mass across multiple transportable structures. Each portion may include a single robotic arm (and the components associated with that arm). In some embodiments, the deployable robotic system has two halves that are approximately equal in weight and that each satisfy a gross mass standard.[002811 In some embodiments, a structure of a deployable robotic system has a stacking strength that satisfies a stacking strength standard of a standards entity (stacking strength is a measure of how much weight can be placed on top of a container or structure without starting to crush). For example, a structure has a stacking strength of at least 213,360 kg (470,400 lbs.). In another example, a structure has a stacking strength that satisfies one or more stacking strength standards defined by ISO 1496-1. For a structure to satisfy a stacking strength standard, frames may be designed such that the vertical columns (in the folded configuration) have enough strength to withstand the force(s) specified by a stacking strength standard. To do this, a structure may be analyzed using FEA (finite element analysis) methods to validate that it can support the loads.(00282 ] In some embodiments, a structure of a deployable robotic system includes coupling mechanisms (e.g., comer and intermediate coupling mechanisms) that satisfy coupling mechanism standards of a standards entity (e.g., the ISO). For example, a structure includes comer castings and / or intermediate castings that satisfy one or more (e.g., all applicable) standards defined by ISO 1161.[0028 1 A structure of a robotic system may be classified, certified, considered, or treated (or any combination thereof) as an intermodal freight shipping container and / or may provide similaradvantages of an intermodal freight shipping container even if the structure does not satisfy all standards for intermodal freight shipping containers (e.g., defined by a standards entity).

[0284] In a first example, a vehicle configured to transport intermodal freight shipping containers (e.g., a forklift or container truck) may still be able to move a structure (e.g., first structure 2810), even if the structure does not satisfy all of the standards. For example, if a structure has a length and width and has coming coupling mechanisms that satisfy the standards but does not have a height that satisfies the standards, then a container truck configured to transport intermodal freight shipping containers may still be able to transport the structure.

[0285] In a second example, a structure of a robotic system can be treated as an intermodal freight shipping container even if it does not satisfy standards that are not applicable for that structure. For example, in embodiments where a structure doesn’t include a door (e.g., first structure 2810 doesn’t include a door), the structure does not need to satisfy door requirements (e.g., minimum door opening sizes) of intermodal freight shipping container for the structure to be considered an intermodal freight shipping container. In another example, internal dimension requirements (e.g., minimum internal dimension requirements) for intermodal freight shipping containers may not be applicable to a structure of a deployable robotic system (e.g., since the robotic part forming components are part of the structure and already within the structure). Thus, the structure does not need to satisfy those internal dimension requirements to be considered an intermodal freight shipping container.

[0286] FIGS. 28A-28E (“FIG. 28” collectively) are diagrams of a first example deployable robotic system 2800. FIG. 28A is a perspective view diagram and FIG. 28B is a side view diagram of deployable robotic system 2800 in the unfolded configuration to form robotic part forming system 2801.

[0287] Robotic part forming system 2801 is configured to perform part forming operations as previously described. For example, robotic part forming system 2801 may have the same or similar components as the robotic systems previously described and / or may operate similar to the robotic systems previously described (e.g., described with respect to FIGS. 1-15).

[0288] Robotic part forming system 2801 includes two portions (e.g., two halves) that may be coupled together to form robotic part forming system 2801 (the portions are labeled first portion 2829 and second portion 2831). Each portion may fold into a separate structure as further describedbelow. For convenience and ease of description, components of first portion 2829 are labeled in FIG. 28. Second portion 2831 may have the same or similar components (e.g., as illustrated).

[0289] First portion 2829 includes control panel 2806, robotic arm 2803 with base 2808, and translation system 2809. In the example of FIG. 28, first portion 2829 includes forming frame 2802 and second portion 2831 does not include a frame. However, in other embodiments, each portion may include (a) a frame or (b) portions of a frame that couple together to form a single frame.[00290j Robotic arm 2803 on base 2808, which is coupled to translation system 2809. Robotic arm 2803 is configured to move through space (e.g., it includes an actuator system) and to perform part forming operations on an object (e.g., sheet metal 110) that is, for example, held by forming frame 2802. For example, robotic arm 2803 uses a tool (e.g., tool 125) to exert a force on an object to deform a piece of sheet metal. Robotic arm 2803 may work in conjunction with the second robotic arm (not labeled in FIG. 28), as previously described. Robotic arm 2803 may be similar to arm 120.[00291 J Translation system 2809 is configured to move base 2808 of robotic arm 2803. For example, translation system 2809 can change the distance between robotic arm 2803 and forming frame 2802 (along the y-axis) and can move robotic arm 2803 laterally (along the x-axis).Translation system 2809 may include a rail or track that base 2808 slides or rolls along and a motor and / or actuator (e.g., 2913A, 2913B) configured to move base 2808 along the rail or track.Translation system 2809 may be used to move robotic arm 2803 during the unfolding process, the folding process, during part forming operations, or any combination thereof.|00292] Control panel 2806 is electronically coupled to robotic arm 2803. Control panel 2806 is configured to control operations of robotic arm 2803. Control panel 2806 may include user interfaces (e.g., mechanical buttons or a touch screen) that allow a user to control operations of robotic arm 2803. Control panel 2806 may control operations related to initialization of robotic arm 2803 (e.g., after deployable robotic system 2800 is unfolded), part forming operations, shutdown of robotic arm 2803 (e.g., after part forming operations are complete or prior to the folding process of deployable robotic system 2800), or any combination thereof.[00293 J Forming frame 2802 includes a clamping system configured to hold an object in place during part forming operations. For example, clamps of forming frame 2802 hold edges of a piece of sheet metal. Forming frame 2802 may be similar to forming frame 115 or 915. In the example ofFIG. 28, forming frame 2802 is parallel to the length of robotic part forming system 2801.(002941 FIG. 28C is a perspective view diagram of deployable robotic system 2800 in a folded configuration that forms two rectangular structures (labeled first structure 2810 and second structure 2815). More specifically, first structure 2810 is a folded configuration of first portion 2829 and second structure 2815 is a folded configuration of second portion 2831. In other embodiments, a folded configuration of a deployable robotic system may form a single structure or more than two structures. FIG. 28C also indicates the height, width, and length of first structure 2810.

[0295] To fold into structures, the portions of deployable robotic system 2800 include sets of frames. A frame forms one or more sides of a structure (e.g., a frame is rectangular, and / or the frames form a rectangular prism). A frame may include an open portion (e.g., a hole that allows visibility through the frame, such as second side frame 2818) or no open portions (e.g., it is a panel or wall with no holes, such as base frame 2811). A frame may be made of metal. A frame may provide structural support for the structure. Example frames are indicated in FIG. 28D, which is the same diagram as FIG. 28C, except frames of the structures are indicated via fill patterns. First structure 2810 includes base frame 2811, first side frame 2816, and second side frame 2818. First structure 2810 also includes coupling arms 2825 A, 2825B (one or both coupling arms may be considered part of first side frame 2816 or second side frame 2818). As illustrated, robotic part forming components of first portion 2829 (including robotic arm 2803 and translation system 2809) may be contained within first structure 2810. A robotic part forming component may be part of or coupled to a frame of first structure 2810. For example, in FIG. 28: (a) forming frame 2802 is part of second side frame 2818, (b) a rail or track of translation system 2809 is part of base 2808 and first side frame 2816, and (c) base 2808 of robotic arm 2803 is coupled to base frame 2811 (other embodiments are not required to include all of (a)-(c)). Second structure 2815 may include similar frames and coupling arms (these are indicated using similar fill patterns but are not labeled in FIG. 28D). However, in the example of FIG. 28, second portion 2831 doesn’t include a forming frame. Thus, second side frame of second structure 2815 doesn’t include a forming frame.(00296] Base frame 2811 is configured to rest on a surface of the external environment (e.g., on the ground or another structure (e.g., an intermodal freight shipping container). Second side frame 2818 is coupled to one side of base frame 2811, and first side frame 2816 is coupled to another side of base frame 2811. Thus, in the folded configuration, first side frame 2816 and second side frame 2818 form opposite sides of first structure 2810 (e.g., they are both parallel to the xz axis and baseframe 2811 is parallel to the xy axis).(00297| First side frame 2816 is coupled to base frame 2811 via coupler elements that form hinges 2823 A, 2823B (note that additional or fewer hinges may be used). Hinges 2823 A, 2823B allow first side frame 2816 to pivot about an axis parallel to the x-axis relative to base frame 2811 (thus the hinges form a pivot point for first side frame 2816).

[0298] Coupling arms 2825A, 2825B couple first side frame 2816 and second side frame 2818 together in the folded configuration. This forms a top portion of first structure 2810 (opposite the base frame 2811 and parallel to the xy axis).

[0299] In the example of FIG. 28, sides of first structure 2810 include open portions, which allows visibility of the robotic part forming components (which may be part of and / or within the frames). These open portions may be covered up with coverings, such as detachable panels or tarps installed at the sides (e.g., prior to transportation of first structure 2810). The coverings may helping protect the internal components during transport. If panels are used, they may reinforce the frames (e.g., to increase the maximum stacking strength of first structure 2810). Additionally, or alternatively, coverings at the sides may help first structure 2810 satisfy one or more requirements for intermodal freight shipping containers.

[0300] A structure of a robotic system may include a coupling mechanism, such as a corner coupling mechanism (at a comer of the structure) or an intermediate coupling mechanism (between comers of the structure e.g., along an edge). A coupling mechanism may enable the structure to couple to external objects or surfaces, such as intermodal freight shipping containers or surfaces configured to couple to intermodal freight shipping containers. In the example of FIG. 28, first structure 2810 includes coupling mechanisms (e.g., see FIG. 28E for magnified views of the comer coupling mechanisms) that are comer castings 2820 (e.g., that satisfy ISO standards). However, other types of comer coupling mechanisms may be used. First structure 2810 includes a coupling mechanism at each of the eight comers, however a structure may have fewer or additional coupling mechanisms. Additionally, a structure may have coupling mechanisms at different locations.

[0301] An example unfolding process of deployable robotic system 2800 is further described below with respect to FIGS. 29A-29K (“FIG. 29” collectively).

[0302] In FIG. 29A, both structures are positioned directly adjacent to each other and coupled together prior to transformation (e.g., an unfolding process). More specifically, the second sideframes of each structure are physically coupled together (e.g., via bolts after manually aligning the structures). Additionally, or alternatively, the structures may be electronically, pneumatically, hydraulically, fluidly, or any combination thereof coupled together prior to the unfolding process (e.g., see cord 2910 coupled to both structures). However, placing both structures next to each other and coupling both structures together before unfolding is not required. For example, one or both structures may be unfolded before being placed next to each other or before being coupled to each other.[00303 j In the remaining figures, steps of the unfolding process are describe with respect to first structure 2810. Second structure 2815 undergoes similar steps (however this is not required).

[0304] Transitioning from FIG. 29A to 29B, first side frame 2816 is rotated downward to the ground via hinges 2823A and 2823B. First side frame 2816 may be lowered via actuators 2913A, 2913B, which are coupled to ends of translation system 2809 (along the x-axis) and ends of first side frame 2816 (e.g., where coupling arms are coupled to first side frame 2816). More specifically, pivot arms (including pivot arm 2915) couple each actuator to ends of translation system 2809.Prior to lowering, coupling arms 2825A, 2825B are decoupled from second side frame 2818 (in other embodiments, coupling arms 2825A, 2825B may additionally, or alternatively, be decoupled from first side frame 2816). This decoupling allows first side frame 2816 to rotate about the hinges.

[0305] Transitioning from FIG. 29B to 29C, actuators 2913 A, 2913B pull robotic arm 2803 and control panel 2806 (via the translation system 2809) from being positioned on base 2808 to first side frame 2816. In other words, the actuators pull robotic arm 2803 away from second side frame 2818 (which includes forming frame 2802).

[0306] Transitioning from FIG. 29C to 29D, reinforcement brackets (e.g., 2951) of the pivots arms are removed to allow the pivot arms to be lowered to a parallel position (as illustrated in FIG. 29E).

[0307] Transitioning from FIG. 29D to 29E, the pivot arms (including pivot arm 2915) are lowered to the base of translation system 2809, which results in the actuators extending further.

[0308] Transitioning from FIG. 29E to 29F, actuators 2913 A, 2913B pull robotic arm 2803 (via the translation system 2809) further away from second side frame 2818. The end distance away from second side frame 2818 may depend on the size and reach of robotic arm 2803.

[0309] Transitioning from FIG. 29F to 29G, control panel 2806 is moved from resting ontranslation system 2809 to resting on the external surface.(00310| Transitioning from FIG. 29G to 29H, support legs (e.g., 2917) and access steps (e.g., step 2953) are installed to the outer edges of first side frame 2816 and base frame 2811. The support legs are installed to perform a leveling of the system. This may be useful if the floor is uneven. The support legs can also be anchored to the floor to provide additional stiffness to the robotic part forming system that may be useful in some applications, such as forming using think sheets where the forces can be high. The access steps allow for entry into the forming frame area.

[0311] Transitioning from FIG. 29H to 291, ground panels 2919 are placed on portions of base frame 2811 and first side frame 2816 between robotic arm 2803 and second side frame 2818. Additionally, a top support bar 2921 from the second side frame of the second structure 2815 is removed. Additionally, a status light 2955 is coupled on top of the second side frame for visibility. The status light 2955 can provide signal lights that indicate the operational status of the machine.

[0312] Transitioning from FIG. 291 to 29J, forming frame 2802 is raised up.

[0313] Transitioning from FIG. 29 J to 29K, the robotic arms are repositioned from a stowed orientation to a ready position to perform part forming operations.(00314] FIG. 30 is series of side view diagrams of a structure 3010 of a deployable robotic system (note that the diagrams don’t include a robotic arm or control panel). Similar to FIG. 29, FIG. 30 illustrates steps performed to unfold structure 3016. At step 2, structure 3016 is lowered via actuator 3013 (similar to FIG. 29B). At step 3, actuator 3013 pulls the base 3008 away from second side frame 3018 (similar to FIG. 29C). At step 4, pivot arm 3005 is lowered (similar to FIG. 29E) and actuator 3013 pulls base 3008 farther away from second side frame 3018 (similar to FIG. 29F).

[0315] FIGS. 31A-34F are diagrams of other example deployable robotic systems.

[0316] FIGS. 31 A-3 IB are diagrams of another example deployable robotic system 3100. FIG.31 A includes side views of a folded configuration (left diagram) and an unfolded configuration (right diagram). FIG. 3 IB is a top view diagram of the folded configuration. Similar to previous deployable robotic systems, deployable robotic system 3100 includes robotic arms 3103, forming frame 3102, base frame 3111, first side frame 3116, and second side frame 3118. Side frames are rotatably coupled to sides of base frame 3111. In the side and upright positions, side frames may lock into position. In this example system, the folded configuration includes both robotic arms in a single structure. Specifically, robotic arms are coupled to side frames and are held in horizontalpositions in the folded configuration. Furthermore, robotic arms are positioned through forming frame 3102 in the folded configuration. Note that the dimensions indicated in FIGS. 31A-31B are just examples. Deployable robotic system 3100 may have different dimensions.100317] FIG. 32 is a diagram of another example deployable robotic system 3200. Specifically, FIG. 32 is a top view diagram of the folded configuration. Similar to deployable robotic system 3100, robotic arms of deployable robotic system 3200 are coupled to side frames (labeled 3216 and 3218) and are held in horizontal positions in the folded configuration. However, instead of robotic arms being positioned through forming frame 3202, the arms are positioned at one end of the structure. Note that the dimensions indicated in FIG. 32 are just examples. Deployable robotic system 3200 may have different dimensions.

[0318] FIG. 33 is a diagram of another example deployable robotic system 3300. FIG. 33 is similar to FIG. 32, except the robotic arms are positioned at opposite ends of the structure (on either side of forming frame 3302. Note that the dimensions indicated in FIG. 33 are just examples.

[0319] FIGS. 34A-34F are diagrams of another example deployable robotic system 3400. FIGS. 34A-B illustrate the unfolded configuration that forms a robotic part forming system, FIGS. 34D- 34E illustrate the folded configuration that forms a structure, and FIG. 34F illustrates the structure on a truck trailer. Similar to previous deployable robotic systems, deployable robotic system 3400 includes robotic arms 3403, forming frame 3402, coupling mechanism (including coupling mechanism 3420), base frame 3411, first side frame 3416, and second side frame 3418. Side frames are rotatably coupled to sides of base frame 3411. In the folded configuration (e.g., FIG. 34D) coupling arms on first side frame 3416 couple to coupling arms on second side frame 3418. In this example system, the folded configuration includes both robotic arms in a single structure.ADDITIONAL EXAMPLE DEPLOYABLE ROBOTIC SYSTEMS

[0320] Additional example embodiments of deployable robotic systems are described below. Although references are made to previous deployable robotic systems (e.g., 2800) in the below descriptions, the example embodiments described below are not required to include the components or features previously described.[003211 Some aspects relate to a deployable robotic system (e.g., 2800, 3100, 3200, 3300, 3400) including: a set of frames (e.g., 2811, 2816, 2818) with coupler elements coupled together to formone or more pivot points (e.g., coupler elements form hinges 2823A and 2823B) (the one or more pivot points enable the frames to unfold), the set of frames configured to (a) fold into a first structure (e.g., first structure 2810) having one or more external dimensions (e.g., height, length, or width as indicated in FIG. 28C) of an intermodal freight shipping container and (b) unfold into a portion (e.g., first portion 2829) of a robotic part forming system (e.g., robotic part forming system 2801) including: a robotic arm (e.g., robotic arm 2803, 3103, 3403) with a base (e.g., base 2808) coupled to (e.g., via translation system 2809) a first frame (e.g., base frame 2811 and / or first side frame 2816) of the set of frames; and an actuator system configured to control motion of the robotic arm through space.|(>0322] In some aspects, the first structure is classified, certified, considered, treated, or any combination thereof as an intermodal freight shipping container. Note that the terms “classified,” “certified,” “considered,” and “treated” are not necessarily mutually exclusive. For example, a structure that is certified as an intermodal freight shipping container may also be treated as an intermodal freight shipping container (e.g., during a transportation process).100323] In some aspects, the first structure is certified as an intermodal freight shipping container (e.g., by the ISO). The first structure may be certified after undergoing testing.

[0324] In some aspects, the first structure has the same height, length, and width of an intermodal freight shipping container.[00325| In some aspects, the one or more external dimensions of the first structure satisfy standards for external dimensions of an intermodal freight shipping container defined by the International Organization for Standardization (ISO).100326] In some aspects, the one or more external dimensions of the first structure satisfy standards for external dimensions of an intermodal freight shipping container (e.g., defined by ISO 668).| 00327] In some aspects, the set of frames includes comer and / or intermediate coupling mechanisms (e.g., comer castings 2820) of an intermodal freight shipping container, the comer and / or intermediate coupling mechanisms configured to couple the first structure to an intermodal freight shipping container.

[0328] In some aspects, the comer and / or intermediate coupling mechanisms are comer castings of an intermodal freight shipping container.[00329J In some aspects, the comer and / or intermediate coupling mechanisms satisfy standards for comer and / or intermediate coupling mechanisms of an intermodal freight shipping container defined by the International Organization for Standardization (ISO).100330] In some aspects, the comer and / or intermediate coupling mechanisms satisfy standards for comer and / or intermediate coupling mechanisms of an intermodal freight shipping container (e.g., defined in ISO 1161).(00331 ] In some aspects, the first structure has a total mass that satisfies a maximum gross mass rating for an intermodal freight shipping container (e.g., defined by ISO 668).

[0332] In some aspects, the techniques described herein relate to a deployable robotic system, wherein the first structure has a stacking strength that satisfies a stacking strength standard for an intermodal freight shipping container (e.g., defined by ISO 1496-1).

[0333] In some aspects, the base of the robotic arm is mounted to a translation system (e.g., translation system 2809) coupled one of the frames, the robotic arm configured to move along the translation system.

[0334] In some aspects, the portion of the robotic forming system further includes a control panel (e.g., control panel 2806) coupled to one of the frames of the set and / or the robotic arm, the control panel including a user interface element configured to control an aspect of the robotic arm.

[0335] In some aspects, one of the frames of the set of frames includes a clamping system configured to hold a part to be formed by the robotic part forming system (e.g., second side frame 2818 includes forming frame 2802 (which includes a clamping system)).

[0336] In some aspects, the portion of the robotic forming system further includes a forming frame (e.g., forming frame 2802) with a clamping system configured to hold a part to be formed by the robotic part forming system.

[0337] In some aspects, the deployable robotic system further includes: a second set of frames (e.g., see frames of second structure 2815 in FIG. 28D) with second coupler elements coupled together to form second pivot points, the set of frames configured to (a) fold into a second structure (e.g. Second structure 2815) having one or more external dimensions of an intermodal freight shipping container and (b) unfold into a second portion of the robotic part forming system (e.g., 2801) including: a second robotic arm with a second base coupled to a first frame of the second set of frames (e.g., see FIGS 28A-28B); the second robotic arm including a second actuator systemconfigured to control motion of the second robotic arm through space, wherein: the second set of frames are configured to couple to the set of frames (e.g., see FIG. 29A and related description); and the robotic arm and the second robotic arm are configured to coordinate with each other during part forming operations of the robotic forming system (e.g., see FIGS. 28A-28B and 29K).

[0338] In some aspects, the set of frames includes: a base frame (e.g., base frame 2811) configured to rest on a surface of an external environment; a first side frame (e.g., first side frame 2816)) configured to rotate from an upright position downward to the surface of the external environment; an actuator (e.g., actuators 2913) configured to move the robotic arm from a location over the base frame to a location over the first side frame after the first side frame is rotated downward (e.g., see FIGS. 29B-29C); a second side frame (e.g., second side frame 2818) opposite the first side frame when the set of frames are in a folded configuration, the second side frame configured to remain in an upright position.

[0339] In some aspects, in a folded configuration of the set of frames, the portion of the robotic part forming system is within the first structure (e.g., see FIG 28C).

[0340] In some aspects, the portion of the robotic part forming system further includes: a second robotic arm with a second base coupled to a second frame of the set of frames; a second actuator system configured to control motion of the second robotic arm through space; and a forming frame with a clamping system configured to hold a part to be formed by the robotic part forming system. E.g., see FIGS. 31A-34F.

[0341] In some aspects, the techniques described herein relate to a deployable robotic system, wherein the base of the robotic arm is coupled to a first side frame of the set of frames and the second base of the second robotic are is coupled to a second side frame opposite the first side frame when the set of frames are in a folded configuration. E.g., see FIGS. 31 A-34F.100342] In some aspects, the techniques described herein relate to a deployable robotic system, wherein the forming frame is coupled to a base frame configured to rest on a surface of an external environment (e.g., see FIG. 28).| 00343] In some aspects the first structure and the second structure are both certified as intermodal freight shipping containers.

[0344] Other aspects include components, devices, systems, improvements, methods, processes, applications, computer readable mediums, and other technologies related to any of the above.TOOL HOLDER ASSEMBLIES| 00345] FIG. 36 is a diagram of part of an example robotic system 3600 configured to form a part, according to an embodiment. Robotic system 3600 includes tool 3610, tool holder 3620, tool holder assembly 3650, and robot arm 3670. Tool 3610 is held in place by tool holder 3620. Tool holder assembly 3650 is coupled to an end of robot arm 3670. Tool holder assembly 3650 is configured to hold tool holder 3620 during operation of the robotic system 3600 to form the part. However, tool holder assembly 3650 enables tool holder 3620 to be removed and replaced with a new tool holder, thus allowing quick and convenient tool changing (as opposed to replacing an entire assembly including a tool, tool holder, and tool holder assembly). To do this, tool holder assembly 3650 may include a fluid tool holder release system (e.g., a pneumatic tool holder release system), however other systems may be used as well. Additionally, tool holder assembly 3650 may be configured to receive tool holders with standard tool interfaces, such as CAT40 or BT40, can may lower costs and complexity.

[0346] FIGS. 37A-37F (“FIG. 37” collectively) are diagrams of tool holder assembly 3650, tool holder 3620, and tool 3610, according to an embodiment. More specifically, FIG. 37A is a perspective view, where tool holder 3620 is attached to tool holder assembly 3650. FIG. 37B is a perspective view, where tool holder 3620 is detached from tool holder assembly 3650. FIG. 37C is a cross sectional view of, where tool holder 3620 is attached to tool holder assembly 3650. FIG. 37D is a cross sectional view, where tool holder 3620 is detached from tool holder assembly 3650. FIG. 37E is a cross sectional diagram illustrating additional passages (e.g., vacuum passage 3667 and coolant passage 3669) in tool holder assembly 3650 relative to FIGS. 37C and 37D. FIG. 37F is an exploded view diagram of select parts of tool holder assembly 3650. More specifically, FIG. 37F is an exploded view that includes retention knob 3660, coupling bearings 3657, spring 3654, drawbar 3652, and piston 3655.

[0347] Tool 3610 is configured to interface with an object (e.g., a piece of sheet metal) to perform part forming operations. Tool holder 3620 is a mechanical device designed to securely hold and support tool 3610. Tool holder 3620 includes an interface configured to interlock with tool holder assembly 3650. In some embodiments, tool holder 3620 has a CAT40 interface or a BT40 interface.

[0348] Tool holder assembly 3650 is a mechanical device configured to hold tool holder 3620during operation of the robotic system. Tool holder assembly 3650 is coupled to an end of robot arm 3670. Tool holder assembly 3650 includes internal cavity 3651 with first cavity end 3671 and second cavity end 3673. A part of drawbar 3652, the spring 3654, and the piston 3655 are located in cavity 3651. Cavity 3651 is cylindrical in the example of FIG. 37, however other shapes may be used. Cavity 3651 provides a space for components to move and perform their function, such as holding or releasing the tool holder 3620.

[0349] Tool holder assembly 3650 also includes internal tunnel 3653. Tunnel 3653 includes rounded sides although other shaped sides are possible. Tunnel 3653 extends from an end of tool holder 3620 to an end of internal cavity 3651. Tunnel 3653 includes first tunnel portion 3679 at the left side of tool holder assembly 3650 (in the perspective of FIGS. 37C and 37D), second tunnel portion 3683 connected to first cavity end 3671, and middle tunnel portion 3681 between first tunnel portion 3679 and second tunnel portion 3683. First tunnel portion 3679 may receive a receiving portion of tool holder 3620. That is, a receiving portion of tool holder 3620 may rest in first tunnel portion 3679. For example, if tool holder 3620 includes a specific interface, such as a CAT40 interface, first tunnel portion 3679 may be shaped to receive that interface (e.g., taper 3659 of first tunnel portion 3679 is configured to receive a CAT40 interface). A portion of drawbar 3652 may rest in second tunnel portion 3683, which enables ends of tool holder 3620 and drawbar 3652 to interlock with each other in middle tunnel portion 3681. Middle tunnel portion 3681 may have a dimension (e.g., diameter) larger than the corresponding dimension of second tunnel portion 3683.

[0350] Drawbar 3652 is a mechanical component that may interlock with an end of tool holder 3620 (e.g., to securely hold the tool holder 3620). Drawbar 3652 includes a first end that rests in tunnel 3653 and a second end in cavity 3651. Drawbar 3652 is designed to move along tunnel 3653 and within internal cavity 3651 (e.g., horizontally in FIG. 37C).[00351 J Spring 3654 is positioned in the internal cavity 3651 to press or pull the drawbar 3652 away from the tunnel 3653 and toward a second cavity end 3673 (which is opposite first cavity end 3671). In the example of FIG. 37, a first end of spring 3654 rests against first cavity end 3671 and the second end of spring 3654 rests against the end of drawbar 3652 within internal cavity 3651 to push 3652 away from tunnel 3653. In the example of FIG. 37, spring 3654 is a single helical spring, however multiple springs and / or other types of springs may be used. The stiffness of spring 3654 may depend on the forces used to keep tool holder 3620 coupled to tool holder assembly 3650 during part forming operations.[00352 j Piston 3655 is positioned in internal cavity 3651 between the drawbar 3652 and the second cavity end 3673. Due to spring 3654 applying a force to move drawbar 3652 toward second cavity end 3673, spring 3654 may press drawbar 3652 against piston 3655. In some embodiments, piston 3655 and drawbar 3652 are a singular component. Piston 3655 can move within internal cavity 3651 between first cavity end 3671 and second cavity end 3673. Piston 3655 is sized to form a seal within internal cavity 3651 that divides internal cavity 3651 into two sub-cavities (i.e., first sub-cavity 3677 between first cavity end 3671 and piston 3655 and second sub-cavity 3675 between second cavity end 3673 and piston 3655). More specifically, side edges of piston 3655 may form a seal with one or more side walls of 3651 cavity (depending on the shape of internal cavity 3651). Thus, if pressure in one of the sub-cavities increases, the increased pressure may move piston 3655 in internal cavity 3651 such that the volume of one sub-cavity increases and the other sub-cavity decreases. Note that the seal does not need to be a perfect fluid-tight seal. The seal may simply be strong enough to move piston 3655 when pressure in one of the sub-cavities changes (e.g., subject to the force from 3654).

[0353] Tool holder assembly 3650 includes a port (not illustrated) to internal cavity 3651. Port can allow fluid (e.g., a liquid or gas (e.g., air)) or to enter or exit internal cavity 3651. Port is positioned to allow fluid to enter or exit the internal cavity between piston 3655 and the second cavity end 3673 (i.e., second sub-cavity 3675).100354] As previously mentioned, tool holder assembly 3650 enables tool holder 3620 to be locked into or released from tool holder assembly 3650 based on the position of drawbar 3652. If drawbar 3652 translates into tunnel 3653 past a threshold (referred to as drawbar 3652 being at an “unlocked position”), interlocking mechanisms between drawbar 3652 and tool holder 3620 enable tool holder 3620 to be released from tool holder assembly 3650. However, if drawbar 3652 translates toward second cavity end 3673 past a threshold (referred to as drawbar 3652 being at a “locked position”), interlocking mechanisms between drawbar 3652 and tool holder 3620 may prevent tool holder 3620 from being released from tool holder assembly 3650 (assuming drawbar 3652 remains in the locked position).| 00355) To enable this, in the example of FIG. 37, tool holder 3620 includes retention knob 3660 (e.g., a CAT40 retention knob) and drawbar 3652 includes coupling bearings 3657 (however, other mechanisms may be used in other embodiments). In this example, the unlocked position is when drawbar 3652 is positioned in tunnel 3653 such that coupling bearings 3657 are in middle tunnelportion 3681. This enables coupling bearings 3657 to move due to middle tunnel portion 3681 having a larger dimension (e.g., diameter) than second tunnel portion 3683 (e.g., see FIG. 37D). This positioning enables retention knob 3660 to move past coupling bearings 3657 (e.g., to remove tool holder 3620 from first tunnel portion 3679 or insert tool holder 3620 into first tunnel portion 3679. The locked position is when drawbar 3652 is positioned in tunnel 3653 such that coupling bearings 3657 are in second tunnel portion 3683. This results in coupling bearings 3657 being restricted by the smaller dimension of second tunnel portion 3683, which prevents retention knob 3660 from moving past coupling bearings 3657 (e.g., see FIG. 37C). Thus, to remove or insert tool holder 3620 into tool holder assembly 3650, drawbar 3652 may be moved to the unlocked position, and to lock tool holder 3620 into tool holder assembly 3650, drawbar 3652 may be moved to the locked position.[00356| When pressure in second sub-cavity 3675 is low (e.g., below a first threshold based on the stiffness of spring 3654), spring 3654 moves drawbar 3652 into the locked position (if drawbar 3652 was in the unlocked position) and applies a force that keeps drawbar 3652 in the locked position (e.g., during part forming operations). However, when pressure in second sub-cavity 3675 is increased (e.g., by fluid being pumped into second sub-cavity 3675 via the port), the increased pressure applies an increasing force against spring 3654. If the pressure becomes high enough to overcome spring 3654 (e.g., above a second threshold based on the stiffness of spring 3654), the pressure moves piston 3655 along internal cavity 3651 toward first cavity end 3671 (and thus pushes drawbar 3652 further into tunnel 3653), which may result in drawbar 3652 moving to the unlocked position. Note that fluid through the port may be controlled by a fluid power system (e.g., a hydraulic or pneumatic system) of robotic system 3600.100357| Many alternative tool holder assemblies are possible. In a first example, tool holder assembly 3650 may include a second port that allows fluid (e.g., liquid or gas) to enter or exit first sub-cavity 3677. Thus, the position of drawbar 3652 and piston 3655 may be controlled by controlling the fluid pressures in first sub-cavity 3677 and second sub-cavity 3675 (e.g., drawbar 3652 and 3655 may be coupled together). In some of these embodiments, spring 3654 may be removed. In a second example alternative tool holder assembly, spring 3654 may be moved to second sub-cavity 3675 and arranged to push piston 3655 toward first cavity end 3671 and the port may be moved to allow fluid to enter or exit first sub-cavity 3677 (e.g., drawbar 3652 and 3655 may be coupled together). In a third example, second sub-cavity 3675 may include an actuatorconfigured to push piston 3655 toward first cavity end 3671 (and thus push drawbar 3652 further into tunnel 3653). The actuator may be in addition to or alternative to controlling fluid pressure in second sub-cavity 3675.(00358] In some embodiments, tool holder 3620 and tool holder assembly 3650 include channels (e.g., 3665 and 3669). Channels may be used to carry fluid to or from tool 3610 (e.g., during part forming). For example, channel 3665 may be a vacuum passage that helps retain the ball at the end of tool 3610. In another example, channel 3669 may carry coolant to reduce or prevent tool 3610 from overheating during part forming operations.(00359] In some embodiments, tool holder assembly 3650 includes tool holder reader 3658, such as an RFID (radio-frequency identification) sensor. Thus, a control system of robotic system 3600 may use signals from tool holder assembly 3650 to confirm whether a tool holder is installed in tool holder assembly 3650 and / or confirm which tool holder is installed in tool holder assembly 3650 (since many different tools many be used and performing operations with a wrong tool holder can be problematic).ADDITIONAL EXAMPLE TOOL HOLDER ASSEMBLIES

[0360] Additional examples of tools, tool holders, and tool holder assemblies are described below. Although references are made to FIGS. 36-37 in the below descriptions, the example embodiments described below are not required to include the components or features previously described with respect to those figures.(00361] Some embodiments relate to a robotic system (e.g., 3600), for example configured to form a (e.g., machined) part, the robotic system including: a robot arm (e.g., 120, 1000, 3670); a tool (e.g., 125, 505, 705, 805, 1010, 1100 3610); a tool holder (e.g., part of 130, 3620); and a tool holder assembly (e.g., part of 130, 3650). The tool holder assembly is coupled to an end of the robot arm and configured to hold the tool holder during operation of the robotic system to form the part, the tool holder assembly including: an internal cavity (e.g., 3651); a drawbar (e.g., 3652) in the internal cavity and extending through a tunnel (e.g., 3653) at a first cavity end (e.g., 3671) of the internal cavity; a spring (e.g., 3654) positioned in the internal cavity to press or pull the drawbar away from the tunnel and toward a second cavity end (e.g., 3673) opposite the first cavity end; a piston (e.g., 3655) in the internal cavity and positioned between the drawbar and the second cavity end; and a port configured to allow fluid to enter the internal cavity between the piston and the second cavityend (e.g., in 3675).(003621 In some aspects, fluid pressure in the internal cavity between the piston and the second cavity end higher than a threshold pressure causes the piston to move toward the first cavity end (e.g., see the movement of the piston and drawbar in the transition from FIG. 37D to 37C). In some aspects, the threshold pressure depends on the stiffness of the spring.

[0363] In some aspects, fluid pressure in the internal cavity between the piston and the second cavity end higher than a threshold pressure causes the piston to press the drawbar into the tunnel at the first cavity end. In some aspects, translation of the drawbar into the tunnel past a threshold releases the tool holder from the tool holder assembly (e.g., translation such that coupling bearings 3657 are in middle tunnel portion 3681). In some aspects, the robotic system further includes a fluid power system (e.g., a hydraulic system and / or pneumatic system) configured to pump fluid through the port and into the internal cavity (e.g., a hose in FIG. 36 is part of the hydraulic system and carries fluid to tool holder assembly 3650).

[0364] In some aspects, a first end of the drawbar is in the tunnel and a second end is in the internal cavity; and at least a portion of the spring is positioned between the first cavity end and the second end of the drawbar (e.g., see FIGS. 37C and 37D). In some aspects, the spring causes the drawbar to press against the piston. In some aspects, the spring presses or pulls the drawbar toward a locked position configured to hold the tool holder to the tool holder assembly. In some aspects, force from the spring is configured to cause the tool holder to remain interlocked with the tool holder assembly during operation of the robotic system to form the part.| 00365] In some aspects, an end of tunnel is configured to receive the tool holder (e.g., first tunnel portion 3679). In some aspects, the tool holder is configured to be held in the tunnel by the drawbar during operation of the robotic system. In some aspects, the tool holder includes a retention knob (e.g., 3660) configured to interlock with an end of the drawbar in the tunnel.

[0366] In some aspects, the robotic system (e.g., the robot arm) further includes: an actuator system configured to control motion of the robot arm through space during operation of the robotic system to form the part. In some aspects, the tool is configured to press into material of the part to form the part.

[0367] In some aspects, the tool holder assembly and / or tool holder include a set of channels (e.g., 3665, 3669) configured to carry fluid to or away from the tool. In some aspects, the toolholder further includes a tool holder reader configured to scan the tool holder (e.g., 3658). In some aspects, the tool holder has a CAT40 interface (e.g., including 3660). In some aspects, the tool holder assembly is configured to receive a tool holder with a CAT40 interface (e.g., first tunnel portion 3679 includes a taper (e.g., 3659) that is a CAT40 taper configured to interface with a CAT40 interface.(003681 In some aspects, the tool, the tool holder, and the tool holder fit within a cone shaped design envelop, with the tool being near or at the tip of the cone envelope. Among other advantages, the cone shaped design envelop increases the available angles (in other words, a part forming operation can be performed at a larger angle relative to the surface without the tool holder or tool holder assembly contacting the surface of the object or otherwise hindering the part forming operation). Generally, the smaller the radius of the cone and the larger the height of the cone, the larger the part forming angle can be.1003691 Other aspects include components, devices, systems, improvements, methods, processes, applications, computer readable mediums, and other technologies related to any of the above.EXAMPLE MACHINE ARCHITECTURE

[0370] In some embodiments, the controller (e.g., controller 255 or controller 1120) is a machine able to read instructions from a machine-readable medium and execute them in a set of one or more processors (e.g., working individually or collectively). FIG. 18 is a block diagram illustrating components of an example machine able to read instructions from a machine-readable medium and execute them in a set of one or more processors. Specifically, FIG. 18 shows a diagrammatic representation of a machine in the example form of a computer system 1800. The computer system 1800 can be used to execute instructions 1824 (e.g., program code or software) for causing the machine to perform any one or more of the methodologies (or processes) described herein. In alternative embodiments, the machine operates as a standalone device or a coupled (e.g., networked) device that connects to other machines. In a networked deployment, the machine may operate in the capacity of a server machine or a client machine in a server-client network environment, or as a peer machine in a peer-to-peer (or distributed) network environment. Here, the robots, e.g. ,400A, 400B, and other automated components may include all or a portion of the component of the described computer system (or machine) 1800. The robots, e.g. ,400A, 400B, and / or other automated components may be programmed with program code to operate as describedwith FIGS. 1-16B. Such operation also include program code corresponding to the disclosed models, e.g., 1600, 1615, for effecting the resulting geometries through the robots, e.g., 400A, 400B and other automated components.(003711 The machine may be a server computer, a client computer, a personal computer (PC), a tablet PC, a smartphone, an internet of things (loT) appliance, a network router, or any machine capable of executing instructions 1824 (sequential or otherwise) that specify actions to be taken by that machine. Further, while only a single machine is illustrated, the term “machine” shall also be taken to include any collection of machines that individually or jointly execute instructions 1824 to perform any one or more of the methodologies discussed herein.(00372] The example computer system 1800 includes one or more processing units (“processors 1802” in FIG. 18). The set of one or more processors 1802 is, for example, one or more central processing units (CPUs), one or more graphics processing units (GPUs), one or more digital signal processors (DSPs), one or more state machines, one or more application specific integrated circuits (ASICs), one or more radio-frequency integrated circuits (RFICs), or any combination of these. The set of processors 1802 also may be a controller. The controller may include a non-transitory computer readable storage medium that may store program code to operate (or control) the robots, e.g., 100A, 100B, and / or other automated components described herein.|00373] The set of processors 1802 should be understood that the corresponding functionality may be distributed among multiple processors using various ways, including using multi-core processors, assigning certain operations to specialized processors (e.g., graphics processing units), and dividing operations across a distributed computing environment. Any reference to a the set of processors 1802 should be construed to include such architectures.|00374] The computer system 1800 also includes a main memory 1804. The computer system may include a storage unit 1816. The processor 1802, memory 1804 and the storage unit 1816 communicate via a bus 1808.|00375] In addition, the computer system 1800 can include a static memory 1806, a display driver 1810 (e.g., to drive a plasma display panel (PDP), a liquid crystal display (LCD), or a projector). The computer system 1800 may also include alphanumeric input device 1812 (e.g., a keyboard), a cursor control device 1814 (e.g., a mouse, a trackball, a joystick, a motion sensor, or other pointing instrument), a signal generation device 1818 (e.g., a speaker), and a network interface device 1820,which also are configured to communicate via the bus 1808.

[0376] The storage unit 1816 includes a machine-readable medium 1822 on which is stored instructions 1824 (e.g., software) embodying any one or more of the methodologies or functions described herein. The instructions 1824 may also reside, completely or at least partially, within the main memory 1804 or within the processor 1802 (e.g., within a processor’s cache memory) during execution thereof by the computer system 1800, the main memory 1804 and the processor 1802 also constituting machine-readable media. The instructions 1824 may be transmitted or received over a network 1826 via the network interface device 1820.(00377| While machine-readable medium 1822 is shown in an example embodiment to be a single medium, the term “machine-readable medium” should be taken to include a single medium or multiple media (e.g., a centralized or distributed database, or associated caches and servers) able to store the instructions 1824. The term “machine-readable medium” shall also be taken to include any medium that is capable of storing instructions 1824 for execution by the machine and that cause the machine to perform any one or more of the methodologies disclosed herein. The term “machine- readable medium” includes, but not be limited to, data repositories in the form of solid-state memories, optical media, and magnetic media.

[0378] While machine-readable medium 722 (also referred to as a computer-readable storage medium) is shown in an embodiment to be a single medium, the term “machine-readable medium” should be taken to include a single medium or multiple media (e.g., a centralized or distributed database, or associated caches and servers) able to store the instructions 724. The term “machine- readable medium” shall also be taken to include any medium that is capable of storing instructions 724 for execution by the machine and that cause the machine to perform any one or more of the methodologies disclosed herein. The term “machine-readable medium” shall also be taken to be a non-transitory machine-readable medium. The term “machine-readable medium” includes, but not be limited to, data repositories in the form of solid-state memories, optical media, and magnetic media.ADDITIONAL CONSIDERATIONS

[0379] Embodiments can include every combination and permutation of the various system components and the various method processes.100380) Some portions of above description describe the embodiments in terms of algorithmic processes or operations. These algorithmic descriptions and representations are commonly used by those skilled in the data processing arts to convey the substance of their work effectively to others skilled in the art. These operations, while described functionally, computationally, or logically, are understood to be implemented by computer programs comprising instructions for execution by a processor or equivalent electrical circuits, microcode, or the like. Furthermore, it has also proven convenient at times, to refer to these arrangements of functional operations as modules, without loss of generality. In some cases, a module can be implemented in hardware, firmware, or software.

[0381] As used herein, any reference to “one embodiment” or “an embodiment” means that a particular element, feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. The appearances of the phrase “in one embodiment” in various places in the specification are not necessarily all referring to the same embodiment.[00382) Some embodiments may be described using the expression “coupled” and “connected” along with their derivatives. It should be understood that these terms are not intended as synonyms for each other. For example, some embodiments may be described using the term “connected” to indicate that two or more elements are in direct physical or electrical contact with each other. In another example, some embodiments may be described using the term “coupled” to indicate that two or more elements are in direct physical or electrical contact. The term “coupled,” however, may also mean that two or more elements are not in direct contact with each other, but yet still co-operate or interact with each other. The embodiments are not limited in this context.

[0383] As used herein, the terms “comprises,” “comprising,” “includes,” “including,” “has,” “having” or any other variation thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, article, or apparatus that comprises a list of elements is not necessarily limited to only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Further, unless expressly stated to the contrary, “or” refers to an inclusive or and not to an exclusive or. For example, a condition A or B is satisfied by any one of the following: A is true (or present) and B is false (or not present), A is false (or not present) and B is true (or present), and both A and B are true (or present).| 00384] In addition, use of the “a” or “an” are employed to describe elements and components of the embodiments. This is done merely for convenience and to give a general sense of the disclosure. This description should be read to include one or at least one and the singular also includes theplural unless it is obvious that it is meant otherwise. Where values are described as “approximate” or “substantially” (or their derivatives), such values should be construed as accurate + / - 10% unless another meaning is apparent from the context. From example, “approximately ten” should be understood to mean “in a range from nine to eleven.”

[0385] Upon reading this disclosure, those of skill in the art will appreciate still additional alternative structural and functional designs. Thus, while particular embodiments and applications have been illustrated and described, it is to be understood that the described subject matter is not limited to the precise construction and components disclosed herein and that various modifications, changes and variations which will be apparent to those skilled in the art may be made in the arrangement, operation and details of the method and apparatus disclosed. The scope of protection should be limited only by any claims that issue.

Claims

WHAT IS CLAIMED IS:

1. A system configured to form a part in an initial geometry into a desired geometry, the system comprising: a roller tool; and a robot arm configured to: (a) press the roller tool onto a surface of the part and (b) move the pressed roller tool along the surface of the part to form the desired geometry, wherein the roller tool includes: a ball; and a support with a socket that receives the ball and enables the ball to rotate in the socket, the support including a channel configured to carry fluid through the support toward the ball or away from the ball, the socket configured to, responsive to the ball being pressed onto the surface above a threshold pressure, deform such that contact area of the ball with the socket increases.

2. The system of claim 1, wherein: the contact area of the ball with the socket increases as pressure of the ball onto the surface increases above the threshold pressure; the socket includes a relieved area, wherein the relieved area decreases responsive to the ball being pressed onto the surface above the threshold pressure; and at least one of: at least a portion of a base area of the socket is the relieved area; or at least a portion of a rim area of the socket is the relieved area.

3. The system of any of the previous claims, wherein: the socket is relieved at an area where the channel intersects the socket; and at least one of: the channel intersects the socket at a base area of the socket; or the channel intersects the socket at a rim area of the socket.

4. The system of any of the previous claims, wherein an edge of the socket does not extend beyond an equator line of the ball in the socket.

5. The system of claim 1, further comprising: a cover placed over a portion of the ball and a portion of the support, the cover configured to cover a gap between the ball and the socket.

6. The system of claim 5, wherein the cover forms an opening that exposes the ball and the opening is smaller than the ball.

7. The system of claim 6, wherein the cover is configured to contribute to retaining the ball in the socket.

8. The system of claims 6 or 7, wherein an equator line of the ball is between the edge of the socket and an edge of the opening of the cover.

9. The system of any of claims 5-8, wherein the cover covers only a portion of the gap between the ball and the socket.

10. The system of any of claims 5-9, wherein the cover covers the entire gap between the ball and the socket.

11. The system of any of the previous claims, wherein the support includes a beveled edge.

12. The system of any of the previous claims, further comprising a magnet configured to contribute to retaining the ball in the socket.

13. A system configured to form a part in an initial geometry into a desired geometry, the system comprising: a roller tool; and a robot arm configured to: (a) press the roller tool onto a surface of the part and (b) move the pressed roller tool along the surface of the part to form the desired geometry, wherein the roller tool includes: a ball; and a support with a socket that receives the ball and enables the ball to rotate in the socket, the socket configured to, responsive to the ball being pressed onto the surface above a threshold pressure, deform such that contact area of the ball with the socket increases.

14. The system of claim 13, wherein the contact area of the ball with the socket increases as pressure of the ball onto the surface increases above the threshold pressure.

15. The system of any of claims 13-14, wherein the socket includes a relieved area, wherein the relieved area decreases responsive to the ball being pressed onto the surface above the threshold pressure.

16. The system of claim 15, at least one of: at least a portion of a base area of the socket is the relieved area; or at least a portion of a rim area of the socket is the relieved area.

17. A system configured to form a part in an initial geometry into a desired geometry, the system comprising: a roller tool; and a robot arm configured to: (a) press the roller tool onto a surface of the part and (b) move the pressed roller tool along the surface of the part to form the desired geometry, wherein the roller tool includes: a ball; and a support with a socket that receives the ball and enables the ball to rotate in the socket, the support including a channel configured to carry fluid through the support toward the ball or away from the ball.

18. The system of claim 17, wherein the socket is relieved at an area where the channel intersects the socket.

19. The system of any of claims 17-18, wherein the channel intersects the socket at a base area of the socket.

20. The system of any of claims 17-19, wherein the channel intersects the socket at a rim area of the socket.

21. A mechanical clamping system, the mechanical clamping system comprising: a bottom clamp bar with holes and a top surface configured to interface with an object to be held; top clamp bars adjacent to each other and arranged along a portion of the bottom clamp bar, the top clamp bars having bottom surfaces configured to interface with the object to be held, the top clamp bars coupled with the bottom clamp bar through fastening members passing between respective holes of the top clamp bars and the holes of the bottom clamp bar; and pins coupled to bottom surfaces of the top clamp bars or top surfaces of the bottom clamp bar, the pins forming pivot points for bottom surfaces of the top clamp bars to pivot toward or away from the top surface of the bottom clamp bar.

22. The mechanical clamping system of claim 21, further comprising retaining rings coupled to portions of the fastening members between the top surface of the bottom clamp bar and the bottom surfaces of the top clamp bars.

23. The mechanical clamping system of claim 22, wherein the retaining rings are positioned on the fastening members to push the bottom surfaces of the top clamp bars to pivot away from the top surface of the bottom clamp bar responsive to the fastening members being moved upward.

24. The mechanical clamping system of any of claims 21-23, wherein the top clamp bars include rounded edges configured to interface with objects that have a range of thicknesses.

25. The mechanical clamping system of any of claims 21-24, wherein pivot axes of the pivot points are parallel to each other.

26. The mechanical clamping system of any of claims 21-25, wherein pivot axes of the pivot points are aligned with each other.

27. The mechanical clamping system of any of claims 21-26, wherein the holes in the top clamp bars are oblong in directions perpendicular to pivot axes of the pivot points.

28. The mechanical clamping system of any of claims 21-27, further comprising: washers on portions of the fastening members above the bottom surfaces of the top clamp bars, the washers including rounded surfaces facing the top clamp bars.

29. The mechanical clamping system of claim 28, wherein top surfaces of the top clamp bars include indentations shaped to receive the rounded surfaces of the washers.

30. The mechanical clamping system of any of claims 21-29, further comprising coupling elements coupled to opposite ends of the bottom clamp bar, the coupling elements configured to mount the bottom clamp bar to a frame.

31. The mechanical clamping system of any of claims 21-30, wherein bottom surfaces of the top clamp bars include indentations shaped to receive at least portions of the pins.

32. The mechanical clamping system of any of claims 21-31, wherein the pins are coupled to rear portions of the bottom surfaces of the top clamp bars.

33. A mechanical clamping system, the mechanical clamping system comprising: a bottom clamp bar with a hole and a top surface configured to interface with an object to be held; a top clamp bar arranged on a portion of the bottom clamp bar, the top clamp bar having a bottom surface configured to interface with the object to be held, the top clamp bar coupled with the bottom clamp bar through a fastening member passing between a hole of the top clamp bar and the hole of the bottom clamp bar; anda pin coupled to the bottom surface of the top clamp bar or the top surface of the bottom clamp bar, the pin forming a pivot point for the bottom surface of the top clamp bar to pivot toward or away from the top surface of the bottom clamp bar.

34. The mechanical clamping system of claim 33, further comprising a retaining ring coupled to a portion of the fastening member between the top surface of the bottom clamp bar and the bottom surface of the top clamp bar.

35. The mechanical clamping system of claim 34, wherein the retaining ring is positioned on the fastening member to push the bottom surface of the top clamp bar to pivot away from the top surface of the bottom clamp bar responsive to the fastening member being moved upward.

36. The mechanical clamping system of any of claims 33-35, wherein the top clamp bar includes a rounded edge configured to interface with objects that have a range of thicknesses.

37. The mechanical clamping system of any of claims 33-36, wherein the hole in the top clamp bar is oblong in a direction perpendicular to pivot axis of the pivot point.

38. The mechanical clamping system of any of claims 33-37, further comprising: a washer on a portion of the fastening member above the bottom surface of the top clamp bar, the washer including a rounded surface facing the top clamp bar.

39. The mechanical clamping system of claim 38, wherein the top surface of the top clamp bar includes an indentation shaped to receive the rounded surface of the washer.

40. The mechanical clamping system of any of claims 33-39, further comprising coupling elements coupled to opposite ends of the bottom clamp bar, the coupling elements configured to mount the bottom clamp bar to a frame.

41. A mechanical clamping system configured to hold an object, the mechanical clamping system comprising: a bottom clamp bar with a top surface configured to interface with the object to be held; a top clamp bar with a bottom surface configured to interface with the object to be held; a fastening member that passes through a first hole in the top clamp bar and a second hole in the bottom clamp bar; a pivoting receiving member coupled to a portion of the fastening member below the top surface of the bottom clamp bar; anda pivoting pin arranged below the top surface of the bottom clamp bar and engaged with a side of the pivoting receiving member to form a pivot point enabling the fastening member to pivot about the pivot point.

42. The mechanical clamping system of claim 41, wherein the pivoting receiving member includes a curved wall and an end of the pivoting pin engages with the curved wall to form the pivot point.

43. The mechanical clamping system of any of claims 41-42, wherein a surface of the pivoting receiving member includes an indentation and an end of the pivoting pin engages with the indentation to form the pivot point.

44. The mechanical clamping system of any of claims 41-43, wherein the pivoting pin is coupled to a bottom surface of the bottom clamp bar.

45. The mechanical clamping system of claim 44, wherein the pivoting pin at least partially rests in an indentation of the bottom surface of the bottom clamp bar.

46. The mechanical clamping system of any of claims 41-45, wherein a bottom surface of the bottom clamp bar includes an indentation shaped to receive at least a portion of the pivoting receiving member.

47. The mechanical clamping system of any of claims 41-46, wherein the top clamp bar includes a rounded edge configured to interface with the object to be held.

48. The mechanical clamping system of any of claims 41-47, further comprising a second pivot pin coupled to a rear portion of the bottom surface of the top clamp bar, the second pivot pin configured to form a second pivot point for the top clamp bar.

49. The mechanical clamping system of claim 48, wherein the bottom surface of the top clamp bar includes an indentation shaped to receive at least a portion of the second pivot pin.

50. The mechanical clamping system of any of claims 41-49, further comprising a spring coupled to the top clamp bar and the bottom clamp bar, the spring applying a force to rotate the fastening member about the pivot point.

51. A mechanical clamping system configured to hold an object, the mechanical clamping system comprising: a bottom clamp bar with a top surface configured to interface with the object to be held; top clamp bars with bottom surfaces configured to interface with the object to be held;fastening members that pass through first holes in the top clamp bars and second holes in the bottom clamp bar; pivoting receiving members coupled to portions of the fastening members below the top surface of the bottom clamp bar; and pivoting pins arranged below the top surface of the bottom clamp bar and engaged with sides of the pivoting receiving members to form pivot points enabling the fastening members to pivot about the pivot points.

52. The mechanical clamping system of claim 51 , wherein pivot axes of the pivot points are parallel to each other.

53. The mechanical clamping system of any of claims 51-52, wherein pivot axes of the pivot points are aligned with each other.

54. The mechanical clamping system of any of claims 51-53, wherein a first pivoting pin of the pivoting pins includes (a) a first end engaged with a side of a first pivoting receiving member of the pivoting receiving members and (b) a second end engaged with a side of a second pivoting receiving member of the pivoting receiving members, the second pivoting receiving member being different than the first pivoting receiving member.

55. The mechanical clamping system of any of claims 51-54, wherein the pivoting receiving members include curved walls and ends of the pivoting pins engage with the curved walls to form the pivot points.

56. The mechanical clamping system of any of claims 51-55, wherein surfaces of the pivoting receiving members include indentations and ends of the pivoting pins engage with the indentations to form the pivot points.

57. The mechanical clamping system of any of claims 51-56, wherein the pivoting pins are coupled to bottom surfaces of the bottom clamp bar.

58. The mechanical clamping system of claim 57, wherein the pivoting pins at least partially rest in indentations of the bottom surface of the bottom clamp bar.

59. The mechanical clamping system of any of claims 51-58, wherein a bottom surface of the bottom clamp bar includes indentations shaped to receive at least portions of the pivoting receiving members.

60. The mechanical clamping system of any of claims 51-59, wherein the top clamp bars include rounded edges configured to interface with the object to be held.

61. A mechanical clamp configured to hold an object, the mechanical clamp comprising: an actuator having an end that is movable; a base link with a first link end configured to be movably coupled to a link pivot point and with a second link end movably coupled to the end of the actuator, movement of the end of the actuator to cause the second link end to rotate about the link pivot point; a clamp arm comprising: a clamp interface configured to interface with a surface of the object to be held; a first arm coupling element; and a second arm coupling element mounted to a clamp pivot point, the first arm coupling element and the clamp interface configured to rotate about the clamp pivot point; and a compressible link with a spring configured to compress along a compression axis, the compressible link coupling the second link end with the first arm coupling element, rotation of the second link end about the link pivot point to cause the compressible link to exert force against the first arm coupling element.

62. The mechanical clamp of claim 61, wherein the second link end rotation about the link pivot point causes the compressible link to exert force against the first arm coupling element in a rotation direction about the clamp pivot point.

63. The mechanical clamp of any of claims 61-62, wherein (a) rotation of the second link end about the link pivot point in a first direction and (b) the clamp interface in contact with the object causes the compressible link to compress along the compression axis.

64. The mechanical claim of claim 63, wherein (a) rotation of the second link end about the link pivot point in a second direction different than the first direction and (b) the clamp interface in contact with the object causes the compressible link to decompress along the compression axis.

65. The mechanical clamp of any of claims 63-64, wherein (a) rotation of the second link end about the link pivot point in a second direction different than the first direction and (b) the clamp interface in contact with the object causes the first arm coupling element and the clamp interface to rotate about the clamp pivot point.

66. The mechanical clamp of any of claims 61-65, wherein (a) rotation of the second link end about the link pivot point and (b) the absence of contact between the clamp interface and the object causes the first arm coupling element and the clamp interface to rotate about the clamp pivot point.

67. The mechanical clamp of any of claims 61-66, wherein the second link end rotation about the link pivot point causes an alignment angle between (a) an axis extending between the first link end and the second link end and (b) the compression axis to increase or decrease.

68. The mechanical clamp of any of claims 61-67, wherein the base link, the clamp arm, and the compressible link form an over-center mechanism.

69. The mechanical clamp of any of claims 61-68, further comprising a second clamp arm comprising: a second clamp interface configured to interface with a second surface of the object to be held; and the clamp pivot point.

70. The mechanical clamp of any of claims 61-69, wherein the compressible link comprises: a pivot link coupled to the second link end; and the spring with a first end coupled to the first arm coupling element and a second end coupled to the pivot link.

71. The mechanical claim of claim 70, wherein the pivot link and the second link end of the base link form a joint.

72. The mechanical clamp of any of claims 61-71, wherein the clamp interface includes a clamp bar.

73. The mechanical clamp of any of claims 61-72, wherein a clamping force of the mechanical clamp depends on a thickness of the object.

74. The mechanical clamp of claim 73, wherein the clamping force of the mechanical clamp increases with increasing thickness.

75. The mechanical clamp of any of claims 61-74, wherein: the actuator is controlled to move the end between a first position and a second position; and wherein the mechanical clamp is configured to hold objects of different thicknesses by the actuator moving the end from the first position to the second position.

76. The mechanical clamp of any of claims 61-75, wherein: object has a first thickness, and the mechanical clamp is configured to hold the object by the actuator moving the end from a first position to a second position; anda second object has a second thickness different that the first thickness, and the mechanical clamp is configured to hold the second object by the actuator moving the end from the first position to the second position.

77. A clamping system comprising: a set of two or more mechanical clamps, at least one mechanical clamp of the set comprising: an actuator having an end that is movable; a base link with a first link end coupled to a link pivot point and a second link end coupled to the end of the actuator, movement of the end of the actuator causing the second link end to rotate about the link pivot point; a clamp arm comprising: a clamp interface configured to interface with an object to be held; a first arm coupling element; and a second arm coupling element mounted to a clamp pivot point, the first arm coupling element and the clamp interface configured to rotate about the clamp pivot point; and a compressible link configured to compress along a compression axis, the compressible link coupling the second link end with the first arm coupling element, rotation of the second link end about the link pivot point causing the compressible link to exert force against the first arm coupling element; and a control system configured to control the set of clamps.

78. The clamping system of claim 77, wherein each of the mechanical clamps in the set include an actuator, a base link, a clamp arm, and a compressible link.

79. The clamping system of claim 78, wherein the set of further comprising a clamp bar shared by the mechanical clamps in the set, wherein each of the clamp arms of the mechanical clamps in the set are configured to rotate toward the clamp bar to hold an object.

80. The clamping system of any of claims 77-79, wherein: the set of clamps are arranged on a rectangular frame; and the set of clamps includes: a first subset of clamps arranged on a bottom portion of the rectangular frame; a second subset of clamps arranged on a top portion of the rectangular frame; a third subset of clamps arranged on a first vertical portion of the rectangular frame; anda fourth subset of clamps arranges on a second vertical portion of the rectangular frame, wherein: the control system is configured to individually control each of the clamps in the first subset and in the second subset; control of the third subset of clamps is based on control of a first clamp in the first subset or the second subset; and control of the fourth subset of clamps is based on control of a second clamp in the first subset or the second subset.

81. A deployable robotic system comprising: a set of frames with coupler elements coupled together to form one or more pivot points, the set of frames configured to (a) fold into a first structure having one or more external dimensions of an intermodal freight shipping structure and (b) unfold into a part of a robotic part forming system comprising: a robotic arm with a base coupled to a first frame of the set of frames, the robotic arm including an actuator system configured to control motion of the robotic arm through space.

82. The deployable robotic system of claim 81, wherein the first structure has the same height, length, and width of an intermodal freight shipping container.

83. The deployable robotic system of any of claims 81-82, wherein the one or more external dimensions of the first structure satisfy standards for external dimensions of an intermodal freight shipping container defined by the International Organization for Standardization (ISO).

84. The deployable robotic system of any of claims 81-83, wherein the set of frames includes comer coupling mechanisms of an intermodal freight shipping container, the comer coupling mechanisms configured to couple the first structure to an intermodal freight shipping container.

85. The deployable robotic system of claim 84, wherein the comer coupling mechanisms are comer castings of an intermodal freight shipping container.

86. The deployable robotic system of any of claims 84-85, wherein the comer coupling mechanisms satisfy standards for comer coupling mechanisms of an intermodal freight shipping container.

87. The deployable robotic system of any of claims 81-86, wherein the first structure is certified as an intermodal freight shipping container.

88. The deployable robotic system of any of claims 81-87, wherein the first structure has a total mass that satisfies a maximum gross mass rating for an intermodal freight shipping container.

89. The deployable robotic system of any of claims 81-88, wherein the first structure has a stacking strength that satisfies a stacking strength standard for an intermodal freight shipping container.

90. The deployable robotic system of any of claims 81-89, wherein the base of the robotic arm is mounted to a translation system coupled one of the frames, the robotic arm configured to move along the translation system.

91. The deployable robotic system of any of claims 81-90, wherein the part of the robotic forming system further comprises a control panel coupled to the robotic arm, the control panel comprising a user interface element configured to control an aspect of the robotic arm.

92. The deployable robotic system of any of claims 81-91, wherein one of the frames of the set of frames comprises a clamping system configured to hold a part to be formed by the robotic part forming system.

93. The deployable robotic system of any of claims 81-92, wherein the part of the robotic forming system further comprises a forming frame with a clamping system configured to hold a part to be formed by the robotic part forming system.

94. The deployable robotic system of any of claims 81-93, further comprising: a second set of frames with second coupler elements coupled together to form one or more second pivot points, the set of frames configured to (a) fold into a second structure having one or more external dimensions of an intermodal freight shipping container and (b) unfold into a second part of the robotic part forming system comprising: a second robotic arm with a second base coupled to a first frame of the second set of frames, the second robotic arm including a second actuator system configured to control motion of the second robotic arm through space, wherein: the second set of frames are configured to couple to the set of frames; and the robotic arm and the second robotic arm are configured to coordinate with each other during part forming operations of the robotic forming system.

95. The deployable robotic system of any of claims 81-94, wherein the set of frames comprises: a base frame configured to rest on a surface of an external environment;a first side frame configured to rotate from an upright position downward to the surface of the external environment; an actuator configured to move the robotic arm from a location over the base frame to a location over the first side frame after the first side frame is rotated downward; a second side frame opposite the first side frame when the set of frames are in a folded configuration, the second side frame configured to remain in an upright position.

96. The deployable robotic system of any of claims 81-95, wherein, in a folded configuration of the set of frames, the part of the robotic part forming system is within the first structure.

97. The deployable robotic system of any of claims 81 -96, wherein the part of the robotic part forming system further comprises: a second robotic arm with a second base coupled to a second frame of the set of frames, the second robotic arm including a second actuator system configured to control motion of the second robotic arm through space; and a forming frame with a clamping system configured to hold a part to be formed by the robotic part forming system.

98. The deployable robotic system of claim 97, wherein the base of the robotic arm is coupled to a first side frame of the set of frames and the second base of the second robotic is coupled to a second side frame opposite the first side frame when the set of frames are in a folded configuration.

99. The deployable robotic system of any of claims 97-98, wherein the forming frame is coupled to a base frame configured to rest on a surface of an external environment.

100. The deployable robotic system of any of claims 97-99, wherein the first structure and the second structure are both certified as intermodal freight shipping containers.

101. A robotic system comprising : a robot arm; a tool; a tool holder; and a tool holder assembly coupled to an end of the robot arm and configured to hold the tool holder during operation of the robotic system to form a part, the tool holder assembly comprising: an internal cavity; a drawbar in the internal cavity and extending through a tunnel at a first cavity end of the internal cavity;a spring positioned in the internal cavity to press or pull the drawbar away from the tunnel and toward a second cavity end opposite the first cavity end; a piston in the internal cavity and positioned between the drawbar and the second cavity end; and a port configured to allow fluid to enter the internal cavity between the piston and the second cavity end.

102. The robotic system of claim 101, wherein fluid pressure in the internal cavity between the piston and the second cavity end higher than a threshold pressure causes the piston to move toward the first cavity end.

103. The robotic system of claim 102, wherein the threshold pressure depends on the stiffness of the spring.

104. The robotic system of any of claims 101-103, wherein fluid pressure in the internal cavity between the piston and the second cavity end is higher than a threshold pressure to cause the piston to press the drawbar into the tunnel at the first cavity end.

105. The robotic system of any of claims 101-104, wherein translation of the drawbar into the tunnel past a threshold releases the tool holder from the tool holder assembly.

106. The robotic system of any of claims 101-105, further comprising a fluid power system configured to pump fluid through the port and into the internal cavity.

107. The robotic system of any of claims 101-106, wherein: a first end of the drawbar is in the tunnel and a second end is in the internal cavity; and at least a portion of the spring is positioned between the first cavity end and the second end of the drawbar.

108. The robotic system of any of claims 101-107, wherein the spring causes the drawbar to press against the piston.

109. The robotic system of any of claims 101-108, wherein the spring presses or pulls the drawbar toward a locked position configured to hold the tool holder to the tool holder assembly.

110. The robotic system of any of claims 101-109, wherein force from the spring is configured to cause the tool holder to remain interlocked with the tool holder assembly during operation of the robotic system to form the part.

111. The robotic system of any of claims 101-110, wherein an end of tunnel is configured to receive the tool holder.

112. The robotic system of claim 111, wherein the tool holder is configured to be held in the tunnel by the drawbar during operation of the robotic system.

113. The robotic system of claim 112, wherein the tool holder comprises a retention knob configured to interlock with an end of the drawbar in the tunnel.

114. The robotic system of any of claims 101-113, further comprising: an actuator system configured to control motion of the robot arm through space during operation of the robotic system to form the part.

115. The robotic system of any of claims 101-114, wherein the tool is configured to press into material of the part to form the part.

116. The robotic system of any of claims 101-115, wherein the tool holder assembly further comprises a set of channels configured to carry fluid to or away from the tool holder.

117. The robotic system of any of claims 101-116, wherein the tool holder further comprises a tool holder reader configured to scan the tool holder.

118. The robotic system of any of claims 101-117, wherein the tool holder has a CAT40 interface.

119. The robotic system of any of claims 101-118, wherein the tool holder assembly is configured to receive a tool holder with a CAT40 interface.

120. The robotic system of any of claims 101-119, wherein the tool, the tool holder, and the tool holder fit within a design envelop with dimensions.

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