US20040102140A1 - Contour following end effectors for lapping/polishing - Google Patents
Contour following end effectors for lapping/polishing Download PDFInfo
- Publication number
- US20040102140A1 US20040102140A1 US10/301,999 US30199902A US2004102140A1 US 20040102140 A1 US20040102140 A1 US 20040102140A1 US 30199902 A US30199902 A US 30199902A US 2004102140 A1 US2004102140 A1 US 2004102140A1
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- US
- United States
- Prior art keywords
- lapping
- joint
- ball
- pivot
- plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B13/00—Machines or devices designed for grinding or polishing optical surfaces on lenses or surfaces of similar shape on other work; Accessories therefor
- B24B13/015—Machines or devices designed for grinding or polishing optical surfaces on lenses or surfaces of similar shape on other work; Accessories therefor of television picture tube viewing panels, headlight reflectors or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
- B24B19/26—Single-purpose machines or devices for particular grinding operations not covered by any other main group for grinding workpieces with arcuate surfaces, e.g. parts of car bodies, bumpers or magnetic recording heads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0038—Other grinding machines or devices with the grinding tool mounted at the end of a set of bars
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B37/00—Lapping machines or devices; Accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
Definitions
- This invention relates generally to lapping and polishing surfaces and, more specifically, to robotic lapping and polishing.
- Injection-molded aircraft canopies and windshields offer tremendous benefits to aircraft in cost, weight, and impact tolerance.
- a major cost in this manufacturing process is the injection mold itself. Surfaces of canopies and windshields are finished to a quality similar to an optic lens in order to prevent pilots from being subjected to visual distortion.
- the precise optics for canopies and windshields are built into the injection mold.
- the injection molds are lapped or polished by hand, section by section, using a diamond plated lapping material. Hand polishing or lapping an injection mold takes several man-years to accomplish. Thus, lapping or polishing is very costly. Hand polishing or lapping also does not ensure that the precise, optic surface finish quality has been met.
- the present invention provides end effectors for performing surface lapping using a robot.
- the end effectors allow orthogonal surface contact in order to maintain optimum pressure applied by the robot.
- the end effectors include a base, a plate having a planar surface, a lapping pad that attaches to the planar surface of the plate, and a pivot joint.
- the pivot joint allows the plate to pivot about two axes.
- the base is attached to an arm of the robot.
- the two axes are substantially parallel to the planar surface.
- the pivot joint includes a universal joint, a gimbaled joint, a half-ball and socket joint, or a crossed-pin ball and socket joint.
- FIG. 1 is a perspective view of an end effector in operation
- FIG. 2 is an exploded view of exemplary materials layered on an end effector
- FIGS. 3A and B illustrate a universal joint end effector
- FIG. 4 illustrates a gimbaled-joint end effector
- FIGS. 5A and B illustrate a one-half ball and socket end effector
- FIGS. 6A and B illustrate a cross-pinned ball and socket end effector
- FIGS. 7 A-C illustrate a multi-end effector support.
- FIG. 1 shows an embodiment of an end effector 40 according to the present invention that is attached to a robot 42 for polishing and lapping a work product 44 .
- the product 44 is a core or cavity injection mold for making polycarbonate aircraft canopies.
- the work product 44 suitably entails a high degree of polishing or lapping accuracy.
- precise optical properties for injection molds must be attained in order to produce optically flawless or near-flawless polycarbonate molded canopies.
- the end effector 40 pivots at an end of the robot 42 , but does not rotate about an axis that is perpendicular to a planar surface of the end effector 40 . In other words, the end effector 40 maintains a substantially orthogonal position relative to the work product 44 .
- a non-limiting example of the robot 42 includes a Fanuc, Inc. robot with soft float.
- Soft float allows the robot 42 to apply pressure to a surface without resulting in undesired shut-offs. Because the robot 42 applies continuous, consistent pressure that far exceeds the capabilities of a human operator, lapping and polishing evolutions take a fraction of the time taken by a human operator.
- the end effector 40 suitably includes a lapping plate 50 with applied layers of materials that aid in lapping the work product 44 .
- the layers of materials include one or more silicone or polysulphide adhesive layers 54 interleaved with one or more solid acrylic rings 56 .
- a pitch substance 60 such as tree pitch produced by Universal Photonics, Inc., Adolf Miller, or Zophar Mills, Inc., is applied to the last acrylic ring 56 .
- a polishing or abrasive material 62 such as a diamond-plated lapping material, is attached to the pitch 60 .
- the robot 42 applies pressure to the work product 44 through the end effector 40 in order to for the pitch 60 to conform to the surface of the work product 44 .
- the robot 42 moves the end effector 40 over a section of the surface of the work product 44 that entails the same curvature to which the pitch 60 conforms.
- FIGS. 3A and B illustrate a non-limiting example end effector 100 that suitably attaches to the robot 42 (FIG. 1).
- the end effector 100 includes a universal joint 104 that couples a base mount 106 to a lapping plate 110 .
- the base mount 106 suitably attaches to the robot 42 (FIG. 1).
- the universal joint 104 suitably includes a U-shaped receiver portion 114 , a pin housing 116 , and a U-shaped lapping plate portion 120 .
- the U-shaped receiver portion 114 is part of or is securely attached to the base mount 106 .
- the U-shaped lapping plate portion 120 is suitably part of or is alternatively securely attached to, the lapping plate 110 .
- a first pin 124 is mounted through the U-shaped receiver portion 114 and the pin housing 116 .
- the pin housing 116 rotates about a longitudinal axis of the first pin 124 .
- Second and third pins 130 and 132 are mounted through the U-shaped lapping plate portion 120 and into the pin housing 116 to allow the U-shaped lapping plate portion 120 to rotate about a longitudinal axis of the second and third pins 130 and 132 .
- the second and third pins 130 and 132 are substantially axially orthogonal to the first pin 124 .
- the universal joint 104 allows the lapping plate 110 to rotate about the axis of the first pin 124 and the axis of the second and third pins 130 and 132 without allowing rotation of the lapping plate 110 itself.
- FIG. 4 illustrates a gimbaled-joint end effector 150 .
- the gimbaled-joint end effector 150 includes a base 154 , a swivel ring 156 , and a lapping plate 160 .
- the base 154 is securely attached to the robot 42 (FIG. 1).
- the swivel ring 156 is suitably ring-shaped and securely receives first and second pins 164 and 166 on opposing sides. The pins 164 and 166 protrude outward from the swivel ring 156 .
- the base 154 includes a circular cavity for receiving the swivel ring 156 .
- the first and second pins 164 and 166 are rotatably received by walls that define the cavity of the base 154 , thereby allowing the swivel ring 156 to rotate about a longitudinal axis of the first and second pins 164 and 166 .
- the swivel ring 156 also receives a third pin 170 with a longitudinal axis that is orthogonal to the longitudinal axis of the first and second pins 164 and 166 .
- the lapping plate 160 includes a circular extension 172 that is sized to fit within the swivel ring 156 .
- the circular extension 172 rotatably receives the third pin 170 .
- the lapping plate 160 rotates about the longitudinal axis of the third pin 170 within the swivel ring 156 .
- the gimbaled-joint end effector 150 allows the lapping plate 160 to rotate about the longitudinal axis of the first, second, and third pins 164 , 166 , and 170 without causing rotation of the lapping plate 160 itself.
- FIGS. 5A and B illustrate a one-half ball socket end effector 190 .
- the one-half ball and socket end effector 190 includes a socket housing 194 , a half-ball lapping plate 196 , and first and second pins 200 and 204 .
- the lapping plate 196 includes a one-half ball joint portion 206 that is pivotally received by a semi-circular cavity 208 formed by the housing 194 .
- the pins 200 and 204 pass through opposite sides of the housing 194 and protrude into the cavity 208 .
- the distance between the pins 200 and 204 is suitably less than a diameter of a widest part of the one-half ball joint portion 206 .
- the one-half ball joint portion 206 swivels within the housing 194 and is maintained within the cavity 208 by the pins 200 and 204 .
- FIGS. 6A and B illustrate a cross-pinned ball and socket end effector 230 .
- the cross-pinned ball and socket end effector 230 includes a base 234 , a lapping plate 238 , a ball pin 242 , and securing pins 250 and 252 .
- the base 234 includes a ball assembly 240 that is substantially spherical and that receives the ball pin 242 through approximately the center of the ball assembly 240 .
- the ball pin 242 is suitably longer than the diameter of the ball assembly 240 .
- the lapping plate 238 includes a ball cavity 244 that rotatably receives the ball assembly 240 .
- the lapping plate 238 also includes pin cavities 246 that are located adjacent to the ball cavity 244 on opposite sides of the ball cavity 244 .
- the ball pin 242 is inserted into the ball assembly 240 .
- the ball assembly 240 with ball pin 242 are inserted into the ball cavity 244 with the ball pin 242 being received by the pin cavities 246 .
- the securing pins 250 and 252 mount through the lapping plate 238 and the pin cavities 246 , respectively.
- the securing pins 250 and 252 keep the ball pin 242 within the respective ball pin cavities 246 .
- the lapping plate 238 pivots about a longitudinal axis of the ball pin 242 .
- the lapping plate 238 also rotates about an axis substantially orthogonal to the longitudinal axis of the ball pin 242 . This is because the ball pin cavities 246 are sized to allow pitching motion of the ball pin 242 therein.
- FIGS. 7 A-C illustrate a multiple end effector support 350 .
- the multiple end effector support 350 includes a plurality of arms 356 that extend radially from a center shaft 360 .
- the center shaft 360 is attached to a base (not shown) that is coupled to the robot 42 (FIG. 1).
- an extension 364 extends from a single end effector unit 366 .
- the type of end effector unit that can be used is any one of the ones shown in FIGS. 3 - 7 .
- the multiple end effector support 350 suitably includes two or more arms 356 for polishing and lapping a large area. In another embodiment, small and large lapping plates are alternately connected around the multiple end effector support 350 .
- the extension 364 is suitably a threaded shaft that is received by a threaded cavity near an end of an arm 356 .
- the extension 364 is secured to one of the arms 356 by a securing pin 370 that tightens a split at the end of the arm 356 .
- the split extends to the threaded cavity.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
End effectors are provided for performing surface lapping using a robot. The end effectors allow orthogonal surface contact in order to maintain optimum pressure applied by the robot. The end effectors include a base, a plate having a planar surface, a lapping pad that attaches to the planar surface of the plate, and a pivot-joint. The pivot-joint allows the plate to pivot about two axes. The base is attached to an arm of the robot. The two axes are substantially parallel to the planar surface.
Description
- [0001] This invention was made with Government support under U.S. Government contract F33615-97-2-3400 awarded by United States Air Force. The Government has certain rights in this invention.
- This patent application is related to concurrently-filed patent applications entitled “Spring-Loaded Contour Following End Effectors for Lapping/Polishing”, bearing attorney docket number BOEI-1-1102, and “Automated Lapping System”, bearing attorney docket number BOEI-1-1121, which are hereby incorporated by reference.
- This invention relates generally to lapping and polishing surfaces and, more specifically, to robotic lapping and polishing.
- Injection-molded aircraft canopies and windshields offer tremendous benefits to aircraft in cost, weight, and impact tolerance. A major cost in this manufacturing process is the injection mold itself. Surfaces of canopies and windshields are finished to a quality similar to an optic lens in order to prevent pilots from being subjected to visual distortion. The precise optics for canopies and windshields are built into the injection mold. The injection molds are lapped or polished by hand, section by section, using a diamond plated lapping material. Hand polishing or lapping an injection mold takes several man-years to accomplish. Thus, lapping or polishing is very costly. Hand polishing or lapping also does not ensure that the precise, optic surface finish quality has been met.
- Therefore, there exists an unmet need to reduce the cost and increase the accuracy of lapping or polishing.
- The present invention provides end effectors for performing surface lapping using a robot. The end effectors allow orthogonal surface contact in order to maintain optimum pressure applied by the robot.
- The end effectors include a base, a plate having a planar surface, a lapping pad that attaches to the planar surface of the plate, and a pivot joint. The pivot joint allows the plate to pivot about two axes. The base is attached to an arm of the robot.
- In accordance with an aspect of the invention, the two axes are substantially parallel to the planar surface.
- In accordance with an another aspect of the invention, the pivot joint includes a universal joint, a gimbaled joint, a half-ball and socket joint, or a crossed-pin ball and socket joint.
- The preferred and alternative embodiments of the present invention are described in detail below with reference to the following drawings.
- FIG. 1 is a perspective view of an end effector in operation;
- FIG. 2 is an exploded view of exemplary materials layered on an end effector;
- FIGS. 3A and B illustrate a universal joint end effector;
- FIG. 4 illustrates a gimbaled-joint end effector;
- FIGS. 5A and B illustrate a one-half ball and socket end effector;
- FIGS. 6A and B illustrate a cross-pinned ball and socket end effector; and
- FIGS.7A-C illustrate a multi-end effector support.
- FIG. 1 shows an embodiment of an
end effector 40 according to the present invention that is attached to arobot 42 for polishing and lapping awork product 44. A non-limiting example of theproduct 44 is a core or cavity injection mold for making polycarbonate aircraft canopies. Thework product 44 suitably entails a high degree of polishing or lapping accuracy. For example, precise optical properties for injection molds must be attained in order to produce optically flawless or near-flawless polycarbonate molded canopies. In order to attain this desired level of accuracy, theend effector 40 pivots at an end of therobot 42, but does not rotate about an axis that is perpendicular to a planar surface of theend effector 40. In other words, theend effector 40 maintains a substantially orthogonal position relative to thework product 44. - A non-limiting example of the
robot 42 includes a Fanuc, Inc. robot with soft float. Soft float allows therobot 42 to apply pressure to a surface without resulting in undesired shut-offs. Because therobot 42 applies continuous, consistent pressure that far exceeds the capabilities of a human operator, lapping and polishing evolutions take a fraction of the time taken by a human operator. - As shown in FIG. 2, the
end effector 40 suitably includes alapping plate 50 with applied layers of materials that aid in lapping thework product 44. In one embodiment, the layers of materials include one or more silicone or polysulphideadhesive layers 54 interleaved with one or more solidacrylic rings 56. Apitch substance 60, such as tree pitch produced by Universal Photonics, Inc., Adolf Miller, or Zophar Mills, Inc., is applied to the lastacrylic ring 56. A polishing orabrasive material 62, such as a diamond-plated lapping material, is attached to thepitch 60. Therobot 42 applies pressure to thework product 44 through theend effector 40 in order to for thepitch 60 to conform to the surface of thework product 44. Therobot 42 moves theend effector 40 over a section of the surface of thework product 44 that entails the same curvature to which thepitch 60 conforms. - FIGS. 3A and B illustrate a non-limiting
example end effector 100 that suitably attaches to the robot 42 (FIG. 1). Theend effector 100 includes auniversal joint 104 that couples abase mount 106 to alapping plate 110. Thebase mount 106 suitably attaches to the robot 42 (FIG. 1). Theuniversal joint 104 suitably includes a U-shapedreceiver portion 114, apin housing 116, and a U-shapedlapping plate portion 120. The U-shapedreceiver portion 114 is part of or is securely attached to thebase mount 106. The U-shapedlapping plate portion 120 is suitably part of or is alternatively securely attached to, thelapping plate 110. - A
first pin 124 is mounted through the U-shapedreceiver portion 114 and thepin housing 116. Thepin housing 116 rotates about a longitudinal axis of thefirst pin 124. Second andthird pins lapping plate portion 120 and into thepin housing 116 to allow the U-shapedlapping plate portion 120 to rotate about a longitudinal axis of the second andthird pins third pins first pin 124. Thus, theuniversal joint 104 allows the lappingplate 110 to rotate about the axis of thefirst pin 124 and the axis of the second andthird pins lapping plate 110 itself. - FIG. 4 illustrates a gimbaled-
joint end effector 150. The gimbaled-joint end effector 150 includes abase 154, aswivel ring 156, and alapping plate 160. Thebase 154 is securely attached to the robot 42 (FIG. 1). Theswivel ring 156 is suitably ring-shaped and securely receives first andsecond pins pins swivel ring 156. Thebase 154 includes a circular cavity for receiving theswivel ring 156. The first andsecond pins base 154, thereby allowing theswivel ring 156 to rotate about a longitudinal axis of the first andsecond pins swivel ring 156 also receives athird pin 170 with a longitudinal axis that is orthogonal to the longitudinal axis of the first andsecond pins plate 160 includes acircular extension 172 that is sized to fit within theswivel ring 156. Thecircular extension 172 rotatably receives thethird pin 170. The lappingplate 160 rotates about the longitudinal axis of thethird pin 170 within theswivel ring 156. The gimbaled-joint end effector 150 allows the lappingplate 160 to rotate about the longitudinal axis of the first, second, andthird pins lapping plate 160 itself. - FIGS. 5A and B illustrate a one-half ball
socket end effector 190. The one-half ball andsocket end effector 190 includes asocket housing 194, a half-ball lapping plate 196, and first andsecond pins 200 and 204. The lappingplate 196 includes a one-half balljoint portion 206 that is pivotally received by asemi-circular cavity 208 formed by thehousing 194. Thepins 200 and 204 pass through opposite sides of thehousing 194 and protrude into thecavity 208. The distance between thepins 200 and 204 is suitably less than a diameter of a widest part of the one-half balljoint portion 206. Thus, the one-half balljoint portion 206 swivels within thehousing 194 and is maintained within thecavity 208 by thepins 200 and 204. - FIGS. 6A and B illustrate a cross-pinned ball and
socket end effector 230. The cross-pinned ball andsocket end effector 230 includes abase 234, alapping plate 238, aball pin 242, and securingpins base 234 includes aball assembly 240 that is substantially spherical and that receives theball pin 242 through approximately the center of theball assembly 240. Theball pin 242 is suitably longer than the diameter of theball assembly 240. The lappingplate 238 includes aball cavity 244 that rotatably receives theball assembly 240. The lappingplate 238 also includespin cavities 246 that are located adjacent to theball cavity 244 on opposite sides of theball cavity 244. Theball pin 242 is inserted into theball assembly 240. Theball assembly 240 withball pin 242 are inserted into theball cavity 244 with theball pin 242 being received by thepin cavities 246. The securing pins 250 and 252 mount through the lappingplate 238 and thepin cavities 246, respectively. The securing pins 250 and 252 keep theball pin 242 within the respectiveball pin cavities 246. The lappingplate 238 pivots about a longitudinal axis of theball pin 242. The lappingplate 238 also rotates about an axis substantially orthogonal to the longitudinal axis of theball pin 242. This is because theball pin cavities 246 are sized to allow pitching motion of theball pin 242 therein. - FIGS.7A-C illustrate a multiple
end effector support 350. The multipleend effector support 350 includes a plurality ofarms 356 that extend radially from acenter shaft 360. Thecenter shaft 360 is attached to a base (not shown) that is coupled to the robot 42 (FIG. 1). As shown in FIG. 7C, anextension 364 extends from a singleend effector unit 366. The type of end effector unit that can be used is any one of the ones shown in FIGS. 3-7. The multipleend effector support 350 suitably includes two ormore arms 356 for polishing and lapping a large area. In another embodiment, small and large lapping plates are alternately connected around the multipleend effector support 350. - In one embodiment, the
extension 364 is suitably a threaded shaft that is received by a threaded cavity near an end of anarm 356. Theextension 364 is secured to one of thearms 356 by a securingpin 370 that tightens a split at the end of thearm 356. The split extends to the threaded cavity. - While the preferred embodiment of the invention has been illustrated and described, as noted above, many changes can be made without departing from the spirit and scope of the invention. Accordingly, the scope of the invention is not limited by the disclosure of the preferred embodiment. Instead, the invention should be determined entirely by reference to the claims that follow.
Claims (29)
1. A robotic system for lapping a surface, the robotic system comprising:
a robotic arm; and
an end effector unit including:
a base attached to the robotic arm;
a plate having a planar surface;
a lapping pad attachable to the planar surface of the plate; and
a pivot-joint for allowing the plate to pivot about two axes.
2. The system of claim 1 , further comprising a pitch for attaching the lapping pad to the lapping plate.
3. The system of claim 1 , wherein the two axes are substantially parallel to the planar surface.
4. The system of claim 3 , wherein the pivot-joint includes a universal joint.
5. The system of claim 3 , wherein the pivot-joint includes a gimbaled joint.
6. The system of claim 3 , wherein the pivot-joint includes a ball and socket joint.
7. The system of claim 6 , wherein the ball and socket joint includes a half-ball and socket joint.
8. The system of claim 6 , wherein the ball and socket joint includes a crossed-pin ball and socket joint.
9. The system of claim 1 , wherein the lapping pad includes a diamond lapping pad.
10. A lapping end effector comprising:
a base;
a plate having a planar surface;
a lapping pad attachable to the planar surface of the plate; and
a pivot-joint for allowing the plate to pivot about two axes.
11. The system of claim 10 , further comprising a pitch for attaching the lapping pad to the lapping plate.
12. The system of claim 10 , wherein the two axes are substantially parallel to the planar surface.
13. The system of claim 12 , wherein the two axes are substantially orthogonal to a direction of pressure applied to the plate.
14. The system of claim 12 , wherein the pivot-joint includes a universal joint.
15. The system of claim 12 , wherein the pivot-joint includes a gimbaled joint.
16. The system of claim 12 , wherein the pivot-joint includes a ball and socket joint.
17. The system of claim 16 , wherein the ball and socket joint includes a half-ball and socket joint.
18. The system of claim 16 , wherein the ball and socket joint includes a crossed-pin ball and socket joint.
19. The system of claim 10 , wherein the lapping pad includes a diamond lapping pad.
20. A robotic system for lapping a surface, the robotic system comprising:
a robotic arm;
a support member coupled to the robotic arm; and
a plurality of end effector units including:
a base attached to the support member;
a plate having a planar surface;
a lapping pad attachable to the planar surface of the plate; and
a pivot-joint for allowing the plate to pivot about two axes.
21. The system of claim 20 , wherein the two axes are substantially parallel to the planar surface.
23. The system of claim 21 , wherein the two axes are substantially orthogonal to a direction of pressure applied by the robotic arm.
24. The system of claim 21 , wherein the pivot-joint includes a universal joint.
25. The system of claim 21 , wherein the pivot-joint includes a gimbaled joint.
26. The system of claim 21 , wherein the pivot-joint includes a ball and socket joint.
27. The system of claim 26 , wherein the ball and socket joint includes a half-ball and socket joint.
28 The system of claim 26 , wherein the ball and socket joint includes a crossed-pin ball and socket joint.
29. The system of claim 20 , wherein the lapping pad includes a diamond lapping pad.
30. A method for lapping a surface, the method comprising:
applying pressure by a robot between a lapping pad attached to a plate having a planar surface and the surface; and
pivoting the plate to move about two axes, wherein the two axes are substantially parallel to the planar surface and the applied pressure is substantially orthogonal to the two axes.
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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US10/301,999 US20040102140A1 (en) | 2002-11-21 | 2002-11-21 | Contour following end effectors for lapping/polishing |
AU2003291153A AU2003291153A1 (en) | 2002-11-21 | 2003-11-21 | Contour following end effectors for lapping/polishing |
PCT/US2003/037450 WO2004048031A2 (en) | 2002-11-21 | 2003-11-21 | Contour following end effectors for lapping/polishing |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/301,999 US20040102140A1 (en) | 2002-11-21 | 2002-11-21 | Contour following end effectors for lapping/polishing |
Publications (1)
Publication Number | Publication Date |
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US20040102140A1 true US20040102140A1 (en) | 2004-05-27 |
Family
ID=32324647
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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US10/301,999 Abandoned US20040102140A1 (en) | 2002-11-21 | 2002-11-21 | Contour following end effectors for lapping/polishing |
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Country | Link |
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US (1) | US20040102140A1 (en) |
AU (1) | AU2003291153A1 (en) |
WO (1) | WO2004048031A2 (en) |
Cited By (4)
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US20050181707A1 (en) * | 2004-02-12 | 2005-08-18 | Wood Jeffrey H. | Pneumatically actuated flexible coupling end effectors for lapping/polishing |
CN102689312A (en) * | 2012-06-08 | 2012-09-26 | 常州大学 | Polishing robot mechanism |
US20130109277A1 (en) * | 2011-11-02 | 2013-05-02 | The Boeing Company | Robotic end effector including multiple abrasion tools |
JP2015020255A (en) * | 2013-07-22 | 2015-02-02 | キヤノン株式会社 | Manufacturing method of component and polishing device |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN111906597B (en) * | 2020-08-05 | 2021-07-20 | 中国科学院西安光学精密机械研究所 | Large-caliber optical glass grinding and polishing system and method |
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- 2003-11-21 AU AU2003291153A patent/AU2003291153A1/en not_active Abandoned
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Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20050181707A1 (en) * | 2004-02-12 | 2005-08-18 | Wood Jeffrey H. | Pneumatically actuated flexible coupling end effectors for lapping/polishing |
US7118452B2 (en) * | 2004-02-12 | 2006-10-10 | The Boeing Company | Pneumatically actuated flexible coupling end effectors for lapping/polishing |
US20070042677A1 (en) * | 2004-02-12 | 2007-02-22 | The Boeing Company | Methods for Lapping Using Pneumatically Actuated Flexible Coupling End Effectors |
US7252577B2 (en) | 2004-02-12 | 2007-08-07 | The Boeing Company | Methods for lapping using pneumatically actuated flexible coupling end effectors |
US20130109277A1 (en) * | 2011-11-02 | 2013-05-02 | The Boeing Company | Robotic end effector including multiple abrasion tools |
US10035237B2 (en) * | 2011-11-02 | 2018-07-31 | The Boeing Company | Robotic end effector including multiple abrasion tools |
CN102689312A (en) * | 2012-06-08 | 2012-09-26 | 常州大学 | Polishing robot mechanism |
JP2015020255A (en) * | 2013-07-22 | 2015-02-02 | キヤノン株式会社 | Manufacturing method of component and polishing device |
Also Published As
Publication number | Publication date |
---|---|
AU2003291153A1 (en) | 2004-06-18 |
WO2004048031A3 (en) | 2004-08-19 |
WO2004048031A2 (en) | 2004-06-10 |
AU2003291153A8 (en) | 2004-06-18 |
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Legal Events
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Owner name: BOEING COMPANY, THE, WASHINGTON Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:WOOD, JEFFREY H.;BENDER, ROBERT E.;REEL/FRAME:013519/0953 Effective date: 20021112 |
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Owner name: UNITED STATES AIR FORCE, OHIO Free format text: CONFIRMATORY LICENSE;ASSIGNOR:BOEING COMPANY;REEL/FRAME:015528/0111 Effective date: 20040204 |
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STCB | Information on status: application discontinuation |
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