Contact patch simulation
AssigneeApple Inc.
InventorsMax A. Maloney, Howard E. Bujtor, Brian K. Miehm
Life of this patent
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Abstract
A method and an apparatus for smart automation of robotic surface finishing of a three-dimensional surface of a workpiece is described. A finite element analysis simulation is conducted providing data for generation of a three-dimensional path along the surface of the workpiece. The finite element can include properties of the workpiece, finishing tool, and the robot configured to maneuver the finishing tool. The surface of the workpiece is finished using one or more surface finishing tools along the three-dimensional path. The surface of the workpiece includes at least a flat region and a curved region.
Claims20
A method for applying an amount of finishing force to selected points along a finishing path for a workpiece, the method comprising:
- creating a model of the workpiece having a predefined geometry and surface finish;
- receiving a plurality of characteristics of a finishing tool, and the workpiece at a finite element analysis module configured to execute a finite element analysis routine;
- receiving at a first robotic handler mechanically coupled to the finishing tool a first set of simulation results from the finite element analysis module in accordance with the received characteristics;
- and
- applying a determined amount of finishing force to the workpiece at the pre-selected points along a first finishing path in accordance with the first set of simulation results.
A surface finishing assembly configured to validate simulated finishing path results provided by a finite element analysis module, comprising:
- a finishing tool;
- a robot having a range of motion suited for maneuvering the finishing tool across a surface of a workpiece;
- and
- a finite element analysis module configured to generate a first finishing path for the finishing tool along a surface of the workpiece based on a plurality of characteristics of the finishing tool, the robot, and the workpiece,
- wherein the first finishing path is designed to achieve a pre-defined surface finish and geometry of the workpiece during a finishing operation.
A non-transitory computer readable medium for applying an amount of finishing force to selected points along a finishing path for a workpiece, the non-transitory computer readable medium comprising:
- computer code for receiving a plurality of characteristics of a robotic surface finishing assembly and a workpiece at a finite element analysis module configured to simulate a surface finishing operation;
- computer code for generating a first finishing path for a first finishing tool from a first set of simulation results, the first finishing path comprising:
- a finishing path along a surface of the workpiece;
- a velocity profile along the finishing path;
- and
- a force profile along the finishing path.
- computer code for applying a determined amount of finishing force to the workpiece at the pre-selected points along the first finishing path in accordance with the first set of simulation results.
Dependencies are inferred from the claim text.