Integrated robotic dispense system and method

An integrated robotic dispense system for dispensing a bead of viscous material onto a workpiece according to a bead layout pattern, comprising:

• a robot subsystem which includes a robot, wherein the robot has a base and a series of one or more articulatable arms having a base end attached to the base and a working end opposite the base end;
• a dispensing subsystem which includes a dispenser operatively attached to the working end and configured to selectably dispense the viscous material from a dispenser tip;
• and
• a control subsystem which includes a robot subsystem control module operatively connected with the robot subsystem for moving and positioning the one or more arms and the working end according to a motion profile, a dispensing subsystem control module operatively connected with the dispensing subsystem for controlling the dispensing of the viscous material by the dispenser according to a dispense profile, and a central control module operatively connected with the robot subsystem control module and the dispensing subsystem control module;
• wherein the central control module is configured for:
• determining the motion profile and the dispense profile based on the bead layout pattern;
• causing the robot subsystem to be moved and positioned according to the motion profile and the dispensing subsystem to dispense the viscous material according to the dispense profile to form a dispensed bead, such that the robot subsystem and the dispensing subsystem cooperate together to minimize a deviation between the bead layout pattern and the dispensed bead;
• and
• modifying one or both of the motion profile and the dispense profile when the deviation is larger than a maximum allowable deviation.

A method for dispensing a bead of viscous material onto a workpiece according to a bead layout pattern, comprising:

• providing an integrated robotic dispense system which includes a robot having a base and a series of one or more articulatable arms having a base end attached to the base and a working end opposite the base end, a dispenser operatively attached to the working end and configured to selectably dispense the viscous material from a dispenser tip, and a control subsystem for moving and positioning the one or more arms and the working end according to a motion profile and controlling the dispensing of the viscous material by the dispenser according to a dispense profile;
• determining, by the control subsystem, the motion profile and the dispense profile based on the bead layout pattern;
• causing the robot to be moved and positioned according to the motion profile and the dispenser to dispense the viscous material according to the dispense profile to form a dispensed bead;
• monitoring a deviation between the bead layout pattern and the dispensed bead;
• and
• modifying one or both of the motion profile and the dispense profile when the deviation is larger than a maximum allowable deviation.