System for additively manufacturing composite structure
AssigneeContinuous Composites Inc.
InventorNathan Andrew Stranberg
Life of this patent
Estimating the term…
Abstract
A system is disclosed that includes an end effector and a support configured to move the end effector. The support may include a first link, a second link rotationally connected to the first link at a joint, and a motor rigidly mounted to the first link and configured to drive rotation of the second link relative to the first link. The support may also include a sole encoder associated with the joint and configured to generate a signal indicative of a position of the first link relative to the second link. The system may further include a controller in communication with the sole encoder and the motor. The controller may be configured to selectively trim operation of the motor based only on the signal.
Claims20
A system, comprising:
- an end effector;
- a support configured to move the end effector, the support having:
- a first link;
- a second link rotationally connected to the first link at a joint;
- a motor rigidly mounted to the first link and configured to drive rotation of the second link relative to the first link;
- and
- a sole encoder associated with the joint and configured to generate a signal indicative of a position of the first link relative to the second link;
- and
- a controller in communication with the sole encoder and the motor, the controller being configured to selectively trim operation of the motor based only on the signal.
A system, comprising:
- an end effector;
- a support configured to move the end effector, the support having:
- a first link;
- a second link rotationally connected to the first link at a joint;
- a motor rigidly mounted to the first link and configured to drive rotation of the second link relative to the first link;
- a transmission operatively positioned between an output of the motor and the second link, the transmission being configured to adjust a speed-to-torque ratio of power transmitted from the motor to the second link;
- and
- a sole encoder associated with the joint and configured to generate a signal indicative of an angular position of the first link relative to the second link;
- and
- a controller in communication with the sole encoder and the motor and having a map stored in a memory relating a current profile for the motor to a desired motion of the support, the controller being configured to:
- direct the current profile to the motor based on a predetermined discharge path of a material from the end effector;
- and
- trim the current profile based only on the signal.
A method of operating a system, comprising:
- activating an end effector;
- rotating a first link of a joint relative to a second link with a motor to move the end effector along a predetermined path during discharging;
- generating a signal indicative of rotation of the first link relative to the second link with a sole encoder associated with the joint;
- and
- selectively trimming operation of the motor based only on the signal.
Dependencies are inferred from the claim text.