Robotic Tool Holder with Passive Compliance

A compliance mechanism for holding a robotic finishing tool implements passive force control and compliance using one or more double-acting pneumatic pistons. A desired application force is set and maintained by controlling pneumatic pressure in chambers both fore and aft of the one or more double-a...

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Bibliographic Details
Main Authors Ledford, Matthew Wayne, Blanset, Dylan, Bohle, II, David John, Jamshidi, Laleh Alighanbari
Format Patent
LanguageEnglish
Published 03.12.2020
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Summary:A compliance mechanism for holding a robotic finishing tool implements passive force control and compliance using one or more double-acting pneumatic pistons. A desired application force is set and maintained by controlling pneumatic pressure in chambers both fore and aft of the one or more double-acting pneumatic pistons. The pressures in the fore and aft chambers are dynamically controlled, e.g., in response to changes in spatial orientation of the robot arm and tool, to maintain a desired compliance force applied by the robotic finishing tool to a workpiece. An external regulator maintains the fore and aft chamber pressures, for a given spatial orientation, throughout the holder's range of compliance motion. The compliance mechanism includes a plurality of piston bores; the number of active pistons may be adjusted for a given operation, e.g., in response to the finishing tool weight.
Bibliography:Application Number: US202015931677