Automated edge finishing using an active XY table

Loucks, Clifford S; Starr, Gregory P

Title: Automated edge finishing using an active XY table

Abstract

The disclosure is directed to an apparatus and method for automated edge finishing using hybrid position/force control of an XY table. The disclosure is particularly directed to learning the trajectory of the edge of a workpiece by "guarded moves". Machining is done by controllably moving the XY table, with the workpiece mounted thereon, along the learned trajectory with feedback from a force sensor. Other similar workpieces can be mounted, without a fixture on the XY table, located and the learned trajectory adjusted

Inventors:

Loucks, Clifford S ^[1]; Starr, Gregory P ^[2]

Cedar Crest, NM
Albuquerque, NM

Issue Date:: 1993-01-01

Research Org.:: Sandia National Laboratories (SNL), Albuquerque, NM, and Livermore, CA (United States)

OSTI Identifier:: 869009

Patent Number(s):: 5261768

Assignee:: Sandia National Laboratories (Albuquerque, NM)

Patent Classifications (CPCs):: G - PHYSICS G05 - CONTROLLING G05B - CONTROL OR REGULATING SYSTEMS IN GENERAL

Y - NEW / CROSS SECTIONAL TECHNOLOGIES Y10 - TECHNICAL SUBJECTS COVERED BY FORMER USPC Y10T - TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION

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G - PHYSICS G05 - CONTROLLING G05B - CONTROL OR REGULATING SYSTEMS IN GENERAL
G05B2219/37357 - Force, pressure, weight or deflection
G05B2219/36462 - Minimize teach time, compress data, many points in curve, few in line

Y - NEW / CROSS SECTIONAL TECHNOLOGIES Y10 - TECHNICAL SUBJECTS COVERED BY FORMER USPC Y10T - TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
Y10T409/304256 - Means to remove flash or burr

G - PHYSICS G05 - CONTROLLING G05B - CONTROL OR REGULATING SYSTEMS IN GENERAL
G05B2219/42064 - Position, speed and acceleration
G05B2219/45151 - Deburring

B - PERFORMING OPERATIONS B23 - MACHINE TOOLS B23C - MILLING
B23C3/12 - Trimming or finishing edges, e.g. deburring welded corners

G - PHYSICS G05 - CONTROLLING G05B - CONTROL OR REGULATING SYSTEMS IN GENERAL
G05B2219/42092 - Position and force control loop together

Y - NEW / CROSS SECTIONAL TECHNOLOGIES Y10 - TECHNICAL SUBJECTS COVERED BY FORMER USPC Y10T - TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
Y10T409/30112 - Process

G - PHYSICS G05 - CONTROLLING G05B - CONTROL OR REGULATING SYSTEMS IN GENERAL
G05B19/423 - Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
G05B2219/33169 - Name of bus, vme-bus

Y - NEW / CROSS SECTIONAL TECHNOLOGIES Y10 - TECHNICAL SUBJECTS COVERED BY FORMER USPC Y10T - TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
Y10T409/304144 - Means to trim edge

B - PERFORMING OPERATIONS B24 - GRINDING B24B - MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING
B24B49/00 - Measuring or gauging equipment for controlling the feed movement of the grinding tool or work

Y - NEW / CROSS SECTIONAL TECHNOLOGIES Y10 - TECHNICAL SUBJECTS COVERED BY FORMER USPC Y10T - TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
Y10T409/303808 - including infeeding
Y10T409/300896 - with sensing of numerical information and regulation without mechanical connection between sensing means and regulated means [i.e., numerical control]

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DOE Contract Number:: AC04-76

Resource Type:: Patent

Country of Publication:: United States

Language:: English

Subject:: automated; edge; finishing; active; xy; table; disclosure; directed; apparatus; method; hybrid; position; force; control; particularly; learning; trajectory; workpiece; guarded; moves; machining; controllably; moving; mounted; thereon; learned; feedback; sensor; similar; workpieces; fixture; located; adjusted; mounted thereon; particularly directed; force control; xy table; force sensor; automated edge; controllably moving; edge finishing; /409/451/700/

Citation Formats


                    Loucks, Clifford S, and Starr, Gregory P. Automated edge finishing using an active XY table.  United States: N. p., 1993. 
        Web.

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                    Loucks, Clifford S, & Starr, Gregory P. Automated edge finishing using an active XY table.  United States.

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                    Loucks, Clifford S, and Starr, Gregory P. Fri .  
        "Automated edge finishing using an active XY table".  United States.  https://www.osti.gov/servlets/purl/869009.

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@article{osti_869009,

  title        = {Automated edge finishing using an active XY table},

  author       = {Loucks, Clifford S and Starr, Gregory P},

  abstractNote = {The disclosure is directed to an apparatus and method for automated edge finishing using hybrid position/force control of an XY table. The disclosure is particularly directed to learning the trajectory of the edge of a workpiece by "guarded moves". Machining is done by controllably moving the XY table, with the workpiece mounted thereon, along the learned trajectory with feedback from a force sensor. Other similar workpieces can be mounted, without a fixture on the XY table, located and the learned trajectory adjusted},

  doi          = {},

  journal      = {},
number       = ,

  volume       = ,

  place        = {United States},

  year         = {1993},

  month        = {1}

}

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Works referenced in this record:

Automated Deburring by Robot Manipulators
conference, June 1986

Kazerooni, H.; Bausch, J. J.; Kramer, B. M.
1986 American Control Conference
https://doi.org/10.23919/ACC.1986.4789211

A system for automated edge finishing
conference, January 1990

Selleck, C. B.; Loucks, C. S.
IEEE International Conference on Systems Engineering
https://doi.org/10.1109/ICSYSE.1990.203186

Automated roboting deburring using electronic compliancy; Impedance control
conference, January 1987

Kazerooni, H.
Proceedings. 1987 IEEE International Conference on Robotics and Automation
https://doi.org/10.1109/ROBOT.1987.1087862

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Title: Automated edge finishing using an active XY table

Abstract

Citation Formats

Automated Deburring by Robot Manipulators conference, June 1986

A system for automated edge finishing conference, January 1990

Automated roboting deburring using electronic compliancy; Impedance control conference, January 1987

Automated Deburring by Robot Manipulators
conference, June 1986

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conference, January 1990

Automated roboting deburring using electronic compliancy; Impedance control
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