525 results about "Joints types" patented technology

A surgical robot system for a single port surgery includes: a first robot arm in which a joint-type instrument is installed and providing a motion displacement to the joint-type instrument with respect to a remote center of motion (RCM); and a second robot arm pairing the first robot arm, in which a non-joint-type instrument is installed and providing a motion displacement to the non-joint-type instrument with respect to the RCM.

Advanced device for the welding training based on simulation with Augmented reality and with remote updates that allows the simulation of: all the industrial welding types—electrode stick (SMAW), MIG / MAG (GMAW, FCAW) and TIG (GTAW)—; all the materials; all the joint types and, also all the welding positions (1Fa 4F, 1G a 6G, 6GR, etc.). It offers an accurate simulation of a real welding equipment thanks to the use of the Augmented Reality technology, which allows the interaction between different elements in several layers. All this is implemented by a monitoring and student evaluating system that allows the teacher to control remotely what is happening in the classroom in real time and without the necessity of being physically present in the training.

The invention discloses a robot kinematics calibration method based on vision measurement and a distance error model. The method includes the steps that a corrected robot D-H model is established; the distance error model is established; a robot kinematics calibration model is established; simultaneous calibration of a hand-eye relation and kinematics parameters is performed; measurement of an actual coordinate position of a tail end is performed; robot D-H parameters are corrected; and experimental verification is conducted. The robot kinematics calibration method based on vision measurement and the distance error model and provided by the invention has the advantages of being simple, efficient and fast; a non-contact measurement mode of vision detection is adopted; meanwhile, repetitive errors of hand-eye calibration are considered, and the calibration model is simplified through a mode of an equidistance model; and accordingly, the positioning precision and distance precision of an industrial robot can be greatly improved, the robot kinematics calibration method is universally suitable for series connection joint-type robots, and certain practical significance is achieved.

The telescopic joint type robot for superhigh voltage live cleaning is used in cleaning. The robot has hand claw connected to small arm via the first joint, hand claw rotating oil cylinder with piston rod hinged to hand claw and cylinder hinged to small arm, small arm connected to the large arm via the second joint, small arm rotating oil cylinder with piston rod hinged to small arm and cylinder hinged to large arm, large arm fixed onto the rotary platform, rotary platform fixed onto movable carrier, automatic hydraulic leveling system and cradle head on the movable carrier and remotely controlled operating terminal for data exchange with central control system via radio communication. The present invention has less joints, simple structure, light weight and easy working and assembling, and may position ceramic insulator accurately.

The invention discloses an industrial robot cutting processing system and a method applied to aircraft auxiliary assembly, comprising a six-axis joint typed industrial robot, a robot controller, an operation panel, a high speed electric mainshaft, a tool clamping process device, a tool quick exchanger, a target installation flange and a laser tracker; high speed cutting technique is adopted; process methods and hole preparing process of boring, reaming by milling and final reaming are sequentially carried out so as to improve the diameter precision of the hole; meanwhile, the cutting force can be controlled by finishing the reaming hole; rough milling is carried out firstly, fine milling is subsequently carried out; furthermore, the cutting depth is not more than 0.15mm during the fine milling process, thus ensuring the planeness of the processing surface; the industrial robot cutting processing system can realize various cutting processes of the soft metal (such as aluminium alloy) as follows: boring, hole enlarging, reaming, dimpling, surface milling, cutting, etc. The invention integrates normal robot, high speed electric mainshaft, quick exchanger, etc., and can solve the cutting process problems of operations such as fine processing, skin cutting, and the like of radar cover installation hole in the field of aircraft assembly.

The invention relates to a parallel, joint-type and walk-help ectoskeleton artificial limb applicable to paralytic, which pertains to a rehabilitation engineering technical field and comprises a hip joint, a knee joint and an ankle joint which are connected in sequence to form the ectoskeleton artificial limb structure of human crura. The hip joint comprises a single-degree-of-freedom drive mechanism and a harmonic reducer with a larger drive ratio which can output high torque; the knee joint adopts a four-bar mechanism, worm wheel, a worm and gear mechanism to realize transmission; flection of the ectoskeleton artificial limb is kept by taking advantage of the self-locking property of the worm wheel and worm and simultaneously, the worm wheel and worm can deliver larger torque; the ankle joint adopts a 3-RPS parallel mechanism with three degrees of freedom, which comprises an upper platform, three active branched guide rods, a lower platform and a thenar support part so as to realize dorsiflexion, plantar flexion, inversion and eversion. The artificial limb of the invention has compact structure, large slew range for every joint and can meet the requirements of actual movements of human body.

The invention discloses a solder joint type detection method and apparatus based on image identification, and relates to the technical field of automatic optical detection. The solder joint type detection method based on image identification includes the steps: based on the obtained soldering tin images of at least two types of solder joints, establishing a training sample set; based on the training samples in the training sample set, training a pre-constructed convolution neural network; and inputting soldering tin images to be identified into the pre-constructed convolution neural network which completes the training, and identifying the types of solder joints in the soldering tin images. The technical scheme of the solder joint type detection method and apparatus based on image identification can utilize the convolution neural network to identify the soldering tin images, thus solving the problem that a traditional soldering tin defect detection method has trouble in plate making and is low in precision and stability, and can simply and quickly identify the welding sport type so as to realize accurate detection of defects of soldering tin by inputting the soldering tin images into the convolution neural network which completes the training.

The invention discloses a method for uniquely solving the inverse kinematics numerical value of the joint type mechanical arm, belongs to the technical field of modern intelligent manufacturing, relates to the technical field of industrial robots, relates to a method for uniquely solving the inverse kinematics numerical value of a joint type six-degree-of-freedom mechanical arm with shoulder joints facing forward. According to the method, a mechanical arm joint coordinate system is built according to an improved DH parameter method, four structural geometrical parameters between adjacent joints of the mechanical arm are determined, a homogeneous coordinate transformation matrix of two adjacent coordinate systems is calculated. For a given pose matrix of a tail end coordinate system O6, animproved newton iteration method, namely a Levenberg marquardt iterative algorithm is adopted, the inverse kinematics solution of the joint coordinate system is calculated by using a jacobian matrix J, and the six joint rotation angle values theta i which correspond to the pose matrix and meet the precision requirement are obtained. The method overcomes the requirement that a traditional newton iteration method needs to fully rank the jacobian matrix j, the modeling method is simple, clear and effective, the method has the characteristics of being high in solving precision, high in solving speed and simple and feasible in solving process.

The invention discloses a rigidity-adjustable robot elastic joint which comprises a joint skeleton, a driving end, an output shaft and a rigidity adjustment device, wherein the driving end and the output shaft are respectively arranged at two ends of the joint skeleton; the rigidity adjustment device is arranged in the joint skeleton and connected between the driving end and the output shaft; the rigidity adjustment device comprises a rotating body connected with the driving end, an elastic force transmission component and an adjustment mechanism; the elastic force transmission component is connected between the rotating body and the output shaft and is pushed by the rotating body to rotate around the axis of the output shaft; and the adjustment mechanism is used for adjusting the length of a force arm of the rotating body which drives the elastic force transmission component to rotate while the output shaft suffers from different load impacts. The rigidity-adjustable robot elastic joint is capable of performing linear adjustment on rigidity according to impacts of external loads, has multiple advantages of compact structure, portability, high universality, high precision, large adjustment range, less abrasion, good universality and the like, is capable of improving the flexibility of robot joints, and is applicable to various joint-type robots.

A sleeve joint type hinge includes a barrel, a pivot shaft, inserted into and rotatable relative to the barrel, and an arched resilient friction member, which has two hooked portions respectively extending from the two distal ends thereof and hooked on the periphery of the pivot shaft and a middle protruding portion kept spaced from a tangential peripheral plane of the pivot shaft and disposed in close contact with the inside wall of the barrel to produce a friction resistance and to hold the pivot shaft positively in positive after each rotary motion of the pivot shaft relative to the barrel by an external biasing force.

The invention discloses FPC (flexible printed circuit) automatic compression joint type lighting test equipment for an LCD (liquid crystal display). The equipment comprises a fixing platform, a primary alignment device, an accurate alignment device, a manipulator, a test jig and a compression joint device. The fixing platform receives the LCD conveyed by upper equipment; the primary alignment device acquires dimensional and positional information of the LCD and sends to the manipulator; the manipulator adsorbs the LCD and moves to a position above an accurate alignment position according to the dimensional and positional information of the LCD; the accurate alignment device acquires dimensional and positional information of an FPC and sends to the manipulator; the manipulator puts the LCD to the test jig according to the dimensional and positional information of the FPC; the compression joint device realizes compression joint of a probe on the test jig and a wiring end of the FPC of the LCD to perform lighting test on the LCD. The FPC automatic compression joint type lighting test equipment for the LCD has advantages that automatic compression joint of the FPC of the LCD can be realized for the lighting test of the LCD, high test efficiency is achieved, and LCD damages caused by manual feeding can be avoided.

The invention relates to a rectangular coordinate and joint type combined traditional Chinese massage robot which is characterized by comprising a bed body provided with a support frame, wherein a mechanical arm is arranged on the support frame; and a massage device comprising a thumb rubber assembly, a metacarpus massage assembly and a roller is arranged at the tail end of the mechanical arm. The mechanical arm in the rectangular coordinate and joint type combined traditional Chinese massage robot is a rectangular coordinate and joint type combined mechanical device and has the characteristics of favorable rigidity and high positioning precision endowed by a rectangular coordinate type mechanical device as well as the characteristic of flexible action endowed by a joint type mechanical device; and the massage device is arranged at the tail end of the mechanical arm. The massage device can be used for realizing various traditional Chinese massage methods such as kneading, finger rolling, finger pressing, palm pushing, palm kneading, palm pressing, vibrating, rolling, rapping and the like under the matching of the mechanical arm.

The invention provides a method for welding Q500qE ultralow-carbon bainite steel for a bridge. The method is excellent in joint mechanical performance and high in welding efficiency and specifically includes that aiming at specific chemical components, applicable technical conditions and different plate thicknesses of the Q500qE ultralow-carbon bainite steel for the bridge, preheating temperature before welding, groove types and welding process parameters are determined; a welding joint type adopts butt joint, penetration angle joint or ship position T-shaped angle joint; a welding method adopts submerged arc welding, CO2 gas shielded semiautomatic welding or shielded metal arc welding. By the welding method, the joint type and thickness specifications of a bridge structure are comprehensively covered, the technical scheme is simple, convenient and high in adaptivity, all implementing effects meet technical requirements of standards related to building of bridge steel and the bridge structure, and the method is of great significance in promoting upgrading of the bridge steel and development of large-span steel bridge building technology. The method can be applied to building of the bridge structure, can also be applied to welding of other ultrathin-carbon bainite steel and is high in adaptivity.

The invention discloses a joint type internal skeleton pneumatic soft hand claw. The joint type internal skeleton pneumatic soft hand claw comprises a central palm part, a plurality of soft-body tentacles fixed to the periphery of the central palm part; each soft-body tentacle part comprises a plurality of joint parts which are connected in sequence; each joint part comprises an elastic telescopiclayer and a plurality of supporting bone parts which are uniformly distributed in the elastic telescopic layer; an inner cavity of the elastic telescopic layer is supported by the supporting bone parts, the inner cavity is connected with the elastic telescopic layer, the supporting skeleton parts are hinged; an air hole is formed in the middle of the supporting skeleton part; the front end of thejoint part is provided with a fingertip bone part which is hinged to the support bone part; a finger bone part is arranged at the rear end of the joint part and is hinged to the supporting bone part;a connecting bone part is arranged between every two adjacent joint parts and is hinged to the supporting bone part; the air holes are formed in the connecting bone part and the finger bone part; andthe connecting bone part and the finger bone part are independently connected with an air pipe; the inner part of the elastic telescopic layer is filled with a plurality of circles of fiber restraintlayers, and the constraint layers correspond to the outside of the gas chamber. According to the joint type internal skeleton pneumatic soft hand claw, the rigidity and the grasping capacity of the tong are improved.

The invention relates to friction stir welding, and discloses a method for eliminating incomplete penetration and weak root connection of a friction stir welding joint. The method comprises the following steps of: 1. producing a gasket, wherein materials and the heat treatment state of the gasket are the same as those of a to-be-welded workpiece; 2. assembling the gasket, namely arranging the gasket between the to-be-welded workpiece and a back rigid bottom plate; 3. preparing before welding, wherein an included angle between a stirring tool and the center of a main shaft is between 0 to 3 DEG; 4. formally welding; and 5. removing the gasket after finishing the welding, and polishing the back surface of a welding seam to ensure that the back surface of the welding seam is flush with a base body. The method for eliminating the incomplete penetration and the weak root connection of the friction stir welding joint can eliminate the defects of the incomplete penetration and the weak root connection which are often generated in stir welding, and has the advantages of improving welding quality, and enhancing stability of the welding process and the like. The method is suitable for butted joint type friction stir welding of all spacial shapes.

The invention discloses a full-automatic road and tunnel lamp cleaning device. A camera (12) is arranged on top of a camera support (3), and a base (13) is supported on a lifting platform (2) and connected with the lower end of a joint type extending arm. A first rotating joint (4) is arranged on top of the joint type extending arm, a rotary shaft of the first rotating joint (4) is connected with two second rotating joints (5), a dust collector is arranged on a rotary shaft of one second rotating joint (5), and a cleaner is arranged on a rotary shaft of the other second rotating joint (5). By means of the full-automatic road and tunnel lamp cleaning device, road and tunnel lamps can be cleaned. A high cleaning degree is guaranteed, meanwhile only 10-20 seconds are needed to clean one lamp, and cleaning time is greatly saved. The full-automatic road and tunnel lamp cleaning device can be operated by only one person in a cab, operation is convenient, labor can be saved effectively, labor intensity of operation staff is reduced, and potential safety hazards of working aloft can be removed effectively.

The invention discloses a joggle joint type bearing rail beam structure for a middle and low-speed magnetic suspension traffic engineering low line. The joggle joint type bearing rail beam structure comprises reinforced concrete supporting structures; each reinforced concrete supporting structure comprises a reinforced concrete girder structure and a reinforced concrete bottom plate; each reinforced concrete bottom plate comprises a bottom plate main body structure, a tenon and a mortise; round corners are arranged on each tenon and each mortise, so that the tenon can rotate in the mortise, therefore, the adjacent two reinforced concrete bottom plates can rotate relative to each other, and further, the reinforced concrete girder structures borne by the two reinforced concrete bottom plates can also rotate relative to each other. According to the joggle joint type bearing rail beam structure disclosed by the invention, as the tenons and the mortises are arranged to form tenon connection, settlement and dislocation caused between the adjacent reinforced concrete girder structures due to different foundation treatment measures are avoided, so that the smoothness requirements for a magnetic suspension traffic engineering overhead structure and a low line transition section F rail are effectively satisfied.

A bathtub waste and overflow drain assembly comprises a fitting-T with at least two telescoping joints that do not require tightening to stop leaks. Telescoping sections are provided in a T-fitting that allow joint type connections with the drain and overflow assemblies. The drain and overflow fittings need only be roughly placed before or after the tub is set down. The joints allow the installer to pull the fittings below into place through the drain and overflow holes in the tub. The finish covers, gaskets, putty, and drain basket can then be installed from above to complete the job.

The invention belongs to the field related to robot controllers, and particularly relates to a driving-and-control-integrated control system and a control method for a joint-type mechanical arm. According to the driving-and-control-integrated control system, main control of a robot control system and motor movement control are finished by utilizing one integrated ARM-DSP chip; external interface communication, power control and electric current loop design are realized by utilizing two FPGA chips; and at most 7 paths of servo motors are subjected to time-sharing control by utilizing one DSP chip. The driving-and-control-integrated control system has the advantages that communication data interaction between the ARM and DSP chips adopts a internal storage access mode, so that data interaction speed is the highest; a no-operation system scheme and a hardware interrupting real-time scheme are adopted, so that the real-time property of the system is improved to the greatest extent; a Cartesian space kinematics calculation result is secondarily optimized in a joint space, so that movement smoothness of the motors is ensured; and a software and hardware parallel processing mechanism is adopted, and an uninterrupted data "interaction-use-refilling" process is designed, so that system data interaction and use do not interfere with each other.

The invention discloses a splicing type communication rack, which comprises a frame and a exterior cover member; the frame is mainly composed of section bar made columns and crossbeam by jointing them by fastening and connecting members; the exterior cover member comprises a top-cap, a base plate, a base seat, a door plate and a side plate; the base plate is fixed on the back of the frame bottom by fastening and connecting members; the framework bottom is fixed on the base seat by fastening and connecting members; the top-cap is fixed on the top of the frame bottom by fastening and connecting members; the top-cover and base plate covers the top surface and the bottom surface of the frame; the side plate is embedded on the frame by fastening and connecting members; one side of the door plate is hinged on the frame, the other side is equipped with door lock for locking the machine cabinet; and the door plate and the side plate cover the sides of the frame. The invention adopts section bar jointed frame structure and jointed integral body structure, which has higher dimension precision than the current steel plate welded structure, and achieves the advantages of small stress deformation, easy processing, convenient assembling and high production efficiency.

The invention provides an expansive concrete caisson pile and a manufacturing method thereof, and a concrete expanding agent, and belongs to the technical field of engineering materials and construction of concrete pile foundation. The method comprises the following steps of: alternatively pouring common concrete and expansive concrete into a caisson pile hole sequentially so as to form bamboo joint type I-shaped pile; and pouring slurry at the pile end of the I-shaped pile or the expansive concrete pile so as to form a II-shaped pile or a III-shaped pile. The expanding agent is manufactured by pulverizing 40 to 80 percent of limestone and 20 to 60 percent of gypsum, calcining the powder in a rotary kiln at the high temperature of 1,300 to 1,500 DEG C, and pulverizing 20 to 80 weight percent of the calcined substance and 20 to 80 weight percent of calcium sulfoaluminate cement or alunite or calcium aluminate cement or a mixture of the calcium sulfoaluminate cement, the alunite and the calcium aluminate cement until the specific surface area is 150 to 400 square meters per kilogram. By the method, the manufacturing cost of the expansive concrete caisson pile can be reduced obviously; and compared with the common expansive concrete caisson pile, the expansive concrete caisson pile has the advantage of obviously increasing the bearing capacity of a single caisson pile.

The invention discloses a straddle type monorail traffic joint type five-slip track switch comprising a first track switch beam, a second track switch beam, a third track switch beam, a fourth track switch and a fifth track switch beam arranged in sequence; 6 bogies are arranged in sequence on the five track switch beams; the bogie arranged on the outer side of the first track switch beam is mounted on a track switch fixed end; the other five bogies are arranged on a walking rail of the track switch mount base, so the 6 bogies can connect and support the five track switch beams; said 5 bogies are respectively provided with a locking device used for locking the 5 track switch beams after switch motions; a first drive unit, a second drive unit and a third drive unit are respectively arranged below the second, fourth and fifth track switch beams, thus realizing track switch beam switching; the first, second and third drive units are connected with a control system; the straddle type monorail traffic joint type five-slip track switch is easy to mount and debug, and convenient in anaphase maintenances.

An air joint type flexible mechanical arm based on rope drive comprises a machine base, three motors, a power source, a control system, an arm body mechanism, a tail end actuator and a driving rope. The machine base is a shell body. The motors, the power source and the control system are arranged in the machine base. The arm body mechanism is formed by connecting a plurality of sets of joint units which are the same in structure in series. One end of the arm body mechanism is connected to the machine base, and the other end, that is, the tail end of the arm body mechanism is connected with the tail end actuator. Each joint unit comprises end covers, an air bag, sliding sleeves, clamping rings, a drawing wire and air nozzles. The arm body mechanism can be manually filled with gas through each joint unit and achieves connecting and supporting effects, and the arm body mechanism also can be manually compressed and folded by releasing gas of each joint unit, so that packaging and transportation are convenient. The air joint type flexible mechanical arm based on rope drive has the advantages of being good in flexibility, light in mass, large in bearing capacity, capable of being folded and convenient to package and transport.

There is disclosed a bending device, in which working data of feeding pitch between bending points, bending direction angle and bending angle is prepared from design data of a work, and a dividing point is determined to share the bending process by first and second joint type robots at one place of a straight line of the work able to be held by a chuck mechanism. After trial working, the working data is corrected. During the working, the first and second joint robots having joints rotatable around axes parallel with the axial direction of the work are moved to the bending position The work is held by a bending die and a clamping die rotatable around the bending die of a bending mechanism attached to the tip end of each joint type robot, and bent / worked by rotating the clamping die. When moving to the next moving position, each joint is rotated to change the attitude of the bending mechanism, and the bending mechanism is moved along the work while the work remains between the bending die and the clamping die. After the bending process is completed, the work is held by the bending mechanism of the second joint type robot, moved in accordance with the angle of the bending mechanism of the first joint type robot in a direction in which the bending mehanism of the first joint type robot is not interfered with, and automatically moved to the unloading position.

The invention discloses a method for calibrating the absolute precision of an industrial robot based on a PMPSD. The method is characterized by comprising the following steps: establishing a robot error kinematic model, constructing a space multipoint virtual constraint, and carrying out data sampling by virtue of a PSD (Position Sensitive Detector); correcting a pose of a terminal laser of the robot by virtue of a space vector relation, correcting a joint corner of the robot by virtue of the corrected pose, and replacing a joint corner obtained from a robot demonstrator and a controller; constructing a model constraint target function, and optimizing the model constraint target function by virtue of a minimizing method, so as to obtain parameter errors of the industrial robot; and finally correcting a geometric parameter nominal value by virtue of the parameter errors, so as to finish the kinematic calibration and absolute precision correction of the industrial robot. By virtue of the method for calibrating the absolute precision of the industrial robot based on the PMPSD, the error problems caused by utilizing a PSD feedback control strategy and coordinate conversion are avoided; and the method is applicable to series-connection joint type robots and plant joint type robots.

The invention belongs to the manufacturing field of a numerical control device and relates to a multiaxial linkage series-parallel, which comprises a bed body, a moving platform, a joint type swinging head on which a spindle is arranged, three branched chains and a worktable on which a cut workpiece is arranged; wherein, a prismatic pair connection is achieved between the bed body and the worktable, the joint type swinging head on which the spindle is arranged is fixedly connected with the moving platform, the three branched chains are respectively connected between the bed body and the moving platform so as to form a spatial parallel closed-chain mechanism with the bed body and the moving platform and the spatial parallel closed-chain mechanism is used for realizing a freedom of two-dimensional movement, the worktable is used for realizing a freedom of one to two dimension, the joint type swinging head is used for realizing a freedom of zero to two dimension, and the compound motion of the worktable, the spatial parallel closed-chain mechanism and the joint type swinging head can realize at least a triaxial linkage control. The device has simple structure, reasonable layout, high stiffness, easy control, large work space and high machining accuracy, and can work with being placed vertically or horizontally, thus satisfying the requirements for multiaxial linkage numerical control machining of parts with complex curved surfaces.

The invention discloses a control method of a cable-driven series joint type S-shaped mechanical arm. The method comprises the steps of establishing an absolute coordinate system and a reference coordinate system of each joint; calculating absolute coordinates of a spatial point of each joint of the mechanical arm in the absolute coordinate system at spatial posture angles required by all the joints of the mechanical arm; calculating the distance between every two adjacent joint points; calculating the total length of each cable at each joint according to the distance between every two adjacent joint points; and controlling each cable to be pulled to the corresponding cable total length so as to control the mechanical arm to move to a spatial posture with a required angle. By means of the method, the overall spatial postures of the mechanical arm can be accurately and uniquely described to realize decoupling; changes of the lengths of all the cables driving all the joints can be calculated independently and correspondingly without solving a system of equations; the calculation number is small; and the efficiency is high, and the real-time performance is good.

The invention discloses a joint type manipulator. The joint type mechanical manipulator comprises a tensioning fixed component, a plurality of connecting pieces and a fixed support which are sequentially connected with one another through springs and steel wires, wherein the tensioning fixed component comprises a tensioning part and a fixed part which are connected with each other, the tensioning and releasing of the steel wires among the tensioning fixed component, the connecting pieces and the fixed support are adjusted by adjusting the relative position of the tensioning part and the fixed part, each connecting piece comprises a first end surface, a second end surface, and a middle part for connecting the first end surface with the second end surface, a plurality of projections and grooves which are matched with each other in an embedded way, an through holes through which the springs can pass are respectively formed on the first end surface and the second end surface, the fixed support is provided with a first support connected with the connecting pieces, and other ends of the springs and the steel wires are fixed on the first support. The extension position and length of the manipulator can be freely adjusted, and the flexibility and universality of the manipulator are improved.

A surgical navigation tool for the computer aided surgical navigation system features that on the basis that the optical locating and tracking system is used to find the space position of surgical navigation tool, a set of five-freedom joint-type manipulator is designed. Said manipulator has a 4-class drive mechanism with self-locking worm-gear set, which has stable instantaneous drive ratio and high drive accuracy, so making the pilot template as its final class reach the surgical target position precisely.