Tactile sensing tool positioning system

A tool positioning system for position a tool normal to the surface of a curved workpiece, said tool positioning system comprising:

• a rigid frame for receiving and supporting a tool having a longitudinal cutting implement;
• a rigid collar portion of said rigid frame, said rigid collar portion disposed circumferentially around said longitudinal cutting implement and normal to the axis thereof;
• a deformable ring disposed on said rigid collar portion;
• a plurality of rigid elongate members disposed within said deformable ring and disposed equidistantly around said rigid collar portion, each of said plurality of rigid elongate members being parallel with said elongate cutting implement and having a first end imbedded in said rigid collar portion and a second end contiguous with the surface of said deformable ring;
• means for measuring the strain induced on each of said plurality of rigid elongate members in response to contact with said curved workpiece and for generating a signal in response thereto;
• and
• means for positioning said longitudinal cutting implement normal to the surface of said curved workpiece in response to said signal.

A tool positioning system for positioning a tool normal to the surface of a curved workpiece, said tool positioning system comprising:

• a rigid frame for receiving and supporting a tool having a longitudinal cutting implement;
• a rigid collar portion of said rigid frame, said rigid collar portion disposed circumferentially around said longitudinal cutting implement and normal to the axis thereof;
• a deformable ring disposed on said rigid collar portion;
• a first plurality of rigid elongate members disposed within said deformable ring and disposed equidistantly around said rigid collar portion, each of said first plurality of rigid elongate members having a first end imbedded in said rigid collar portion and a second end contiguous with the surface of said deformable ring, each of said second ends being located in a first plane;
• a second plurality of rigid elongate members disposed within said deformable ring and disposed equidistantly around said rigid collar portion, each of said second plurality of rigid elongate members having a first end imbedded in said rigid collar portion and a second end contiguous with the surface of said deformable ring, each of said second ends being located in a second plane;
• means for measuring the strain induced on each of said first and second pluralities of rigid elongate members in response to contact with said curved workpiece and for generating a signal in response thereto;
• and
• means for positioning said longitudinal cutting implement normal to the surface of said curved workpiece in response to said signal.