CMM Arm Exoskeleton Sealing and Haptic Control
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Solution Overview
Problem
Current Robot Co-ordinate Measuring Machine Arms (RCAs) face challenges in achieving high precision metrology due to manual control complexities, collision risks, and the need for robustness in demanding environments, particularly in production lines where accuracy and ingress protection are critical.
Innovation Solution
The development of a Robust RCA with an exoskeleton configuration, featuring sealed volumes, advanced sealing mechanisms, an ethernet-based architecture, and enhanced control systems, including haptic mode operation and sensing handles for improved manual control, to ensure high accuracy and protection against environmental hazards.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual control of RCA is used with buttons on the arm, then the system can be operated, but it requires much training and skill, slows down measurements, and increases collision risk
Solution Approach 1:
The patent replaces the mechanical button-pressing interface with a haptic control system that uses force sensors to detect operator intent. The sensing handle detects applied forces and moments, which are then translated into motion commands, substituting the mechanical button interface with a more intuitive force-based control mechanism that reduces training requirements and increases measurement speed.
Solution Approach 2:
The patent introduces a haptic control system with force sensors as an intermediary between the operator and the RCA. This intermediary system translates subtle hand movements and applied forces into precise control commands, eliminating the need for complex button sequences and reducing the skill barrier while maintaining or improving measurement speed.
2Reliability
If manual control of RCA is used with buttons on the arm, then the system can be operated, but it increases the risk of collision requiring precautionary sensors and buffers
Solution Approach 1:
The patent implements haptic feedback through the sensing handle, which detects forces applied by the operator and provides real-time feedback through the control system. This feedback mechanism allows the system to anticipate operator intentions and adjust motion accordingly, reducing collision risk without requiring additional precautionary sensors and buffers that would increase system complexity.
3Reliability
If RCA is designed for robustness in demanding environments, then it can operate in production lines, but it requires sealed volumes and advanced sealing mechanisms
Solution Approach 1:
The patent divides the RCA into separate sealed volumes, isolating critical components from the external environment. By segmenting the system into protected compartments with advanced sealing mechanisms, the patent achieves robustness for production line operation while managing complexity through modular design rather than requiring the entire system to be uniformly sealed.
Data Source
AI summary
The present invention relates to an apparatus for a Robust CMM Arm with Exoskeleton is provided comprising an Internal CMM Arm and an Exoskeleton driving the Internal CMM Arm through a plurality of transmission means such that one or more internal volumes are sealed against ingress of solid objects and fluids. It also relates to a haptic control of an RCA.