Method and apparatus for compliant robotic end-effector
AssigneeThe Boeing Company
InventorsJames J. Troy, Daniel J. Wright, Scott W. Lea
Life of this patent
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Abstract
A method and apparatus for performing an operation on a workpiece using a multi-axis compliant end-effector for attachment to a robotic device. The end-effector is positioned at a nominal location of a workpiece feature on which the operation is to be performed. The end-effector is passively aligned with the workpiece feature by contacting the end-effector with the workpiece feature. The operation is performed on the workpiece feature in response to aligning the end effector with the workpiece feature.
Claims27
A multi-axis compliant end-effector for attachment to a robotic device, the end-effector comprising:
- a compliant contact probe configured to determine by contact an actual location of a workpiece feature;
- and
- at least one translational joint and at least one rotational joint associated with the compliant probe, the at least one translational joint and the at least one rotational joint configured to passively align the compliant contact probe with the workpiece feature.
A method for automatically performing an operation on a workpiece using a multi-axis compliant end-effector for attachment to a robotic device, the method comprising:
- positioning the end-effector at a nominal location of a workpiece feature of the workpiece on which the operation is to be performed;
- contacting the end-effector with the workpiece feature to passively align the end-effector with the workpiece feature;
- and
- responsive to aligning the end effector with the workpiece feature, performing the operation on the workpiece feature.
A computer program product for automatically performing an operation on a workpiece using a multi-axis compliant end-effector for attachment to a robotic device, the computer program product comprising:
- A non-transitory computer readable storage media;
- first program code, stored on the non-transitory computer readable storage media, for positioning the end-effector at a nominal location of a workpiece feature on which the operation is to be performed;
- second program code, stored on the non-transitory computer readable storage media, for contacting the end-effector with the workpiece feature to passively align the end-effector with the workpiece feature;
- and
- third program code, stored on the non-transitory computer readable storage media, for performing the operation on the workpiece feature in response to aligning the end effector with the workpiece feature.
Dependencies are inferred from the claim text.