WO2007003906A2 - Systeme de positionnement - Google Patents
Systeme de positionnement Download PDFInfo
- Publication number
- WO2007003906A2 WO2007003906A2 PCT/GB2006/002426 GB2006002426W WO2007003906A2 WO 2007003906 A2 WO2007003906 A2 WO 2007003906A2 GB 2006002426 W GB2006002426 W GB 2006002426W WO 2007003906 A2 WO2007003906 A2 WO 2007003906A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- axis
- positioning
- target surface
- rotating
- target
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/007—Arms the end effector rotating around a fixed point
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/003—Alignment of optical elements
Definitions
- the present invention relates to a positioning system, such as a pick and place system.
- a pick and place system for positioning optical elements on a plate (the focal plate) at or near the focal plane of a telescope.
- a positioning and manipulation arrangement that has a positioning mechanism for positioning an item on a target surface; means for causing relative rotation of the positioning mechanism and the target surface about a first axis and means for causing relative rotation between the positioning mechanism and the target surface about a second axis at an acute angle relative to the first axis.
- the target surface is spherical and the first and second axes pass through its centre of curvature.
- the positioning mechanism is rotated about the first and second axes and the target surface held stationary.
- Combining rotations about the two axes produces a positioning movement having a locus that is part of a spherical surface.
- the angle between the axes can be selected to suit the target spherical surface.
- the inclination of the second axis ensures that the movement of the positioning mechanism towards and away from the surface is orthogonal thereto.
- the means for rotating the positioning mechanism about a first axis may comprise a rotatable ring.
- a support may extend from the rotatable ring for carrying the means for rotating the positioning mechanism about a second axis.
- a support may be provided for carrying the rotating means so that substantially the whole target surface is accessible to the positioning mechanism.
- the support is provided at a position spaced from the target surface.
- the element that is being positioned may be an optical element.
- the optical element may be one or more of an optical fibre; a lens; a mirror; an imager; a spectrometer; an integral field unit; or an articulated arm for carrying one or all of the foregoing.
- a positioning and manipulation arrangement that has a positioning mechanism for positioning an element on a surface, rotating means for rotating the positioning mechanism about a first and a second axis, and a support for carrying the rotating means so that substantially all of the target surface is accessible to the positioning mechanism.
- the system By arranging the support so that there is no footprint over the sample area, the system is able to position an element or work piece anywhere on the target surface. This is ideal for positioning elements on a circular surface, for example a semiconductor wafer.
- Figure 1 is cross-section of a pick and place arrangement
- Figure 2 is a plan view of the arrangement of Figure 1;
- Figure 3 is a detailed view of the geometry of part of the arrangement of Figure 1;
- Figure 4 is a cross-section of a modified version of the pick and place arrangement of Figure 1;
- Figure 5 is a side view of part of the arrangement of Figures 1 and 4 when being used to position an element on a convex surface
- Figure 6 is a side view of part of the arrangement of Figures 1 and 4 when being used to position an element on a concave surface
- Figures 1 and 2 show a positioner 10 for positioning optical elements 12 on the surface of a focal plate 14 in a telescope
- the focal plate 14 has two opposing, convex spherical surfaces 16, each of which can be used to carry a plurality of optical elements 12, typically optical mirrors.
- the focal plate 14 and the positioner 10 are carried on a support 18 that extends round the periphery of the plate 14, with the spherical surface 16 facing the positioner 10 occupying a target area.
- optical elements can be positioned on the other prior to use.
- the focal plate 14 is rotatable about a tumble axis 20, so that the active plate can be changed as and when desired.
- the positioner 10 has a first ring 22 that defines an outer periphery. This is positioned so that it is concentric with the target, spherical surface. Mounted on this is a rotatable inner ring 24 that is driven by a motor under control of a suitable encoder 26. The inner ring 24 is rotatable about the periphery of the target surface and an axis that extends through the centre of the focal plane of the target surface. This axis will be referred to as the theta axis 28. Extending from the inner ring 24 and towards its centre is an arm 30 that carries a housing 34 for a gripper support 32.
- the gripper housing 34 encloses an internal bearing 36 and rotatable shaft 38, the shaft 38 being positioned along and rotatable about an axis 40 that is at an acute angle a to the theta axis 28. This will be referred to as the phi axis 40.
- the phi axis 40 is selected so that it passes through the centre of curvature 42 of the target spherical surface 16 of the focal plate 14. This means that both the theta axis 28 and phi axis 40 pass through the centre of curvature 42.
- Figure 3 shows the relationship between the theta axis 28, the phi axis 40 and the centre of curvature in more detail.
- a second arm 44 that is perpendicular to the phi axis 40 and carries a gripper 46.
- This is has a gripper mechanism (not shown) that is operable to grip an element that is to be moved/positioned and be linearly driven into contact with the target surface using a lift and lower drive mechanism (not shown).
- Mechanisms for gripping elements are known in the art and so will not be described in detail.
- the radius of rotation of the gripper 46 is the distance L from the theta axis 28 to the phi axis 40.
- rotation of the inner ring 24 causes rotation of the phi axis 40 and so the gripper assembly 46 about the theta axis 28.
- Rotation about the phi axis 40 enables the gripper 46 to swing from the middle of the focal plate 14 to just beyond its edge.
- the gripper mechanism 46 is able to position an element at any point on the target spherical surface.
- the axis of the gripper 46 must be coincident with the theta axis 28 at some point in the travel of the second arm 44.
- the positioner 10 in which the invention is embodied allows a gripper mechanism 46 to be positioned using primarily rotational movements. This allows elements 12 to be accurately positioned and balanced easily. In a telescope this is advantageous as it minimises the changes in gravitational deflection of the unit as the telescope tracks across the sky.
- the positioner 10 can also be designed to be relatively compact radially, which makes its inclusion into another instrument easier. Furthermore, because the gripper assembly 46 is carried on a support that extends over, does not impinge on the target surface 16 substantially all the target surface is accessible for positioning elements thereon.
- the positioning mechanism may be rotatably mounted on an axially positioned rotation means 48 that may depend from a simple U-shaped frame 50 mounted on the ring 22, as shown in Figure 4.
- the gripper has an axis that is at some point coincident with the theta axis, this is not essential. It does however allow the positioner to be relatively compact.
- the gripper drive mechanism may be operable to rotate the gripper arm 46 about its axis.
- the invention is described with reference to a system in which the target surface is held stationary and the gripper is moved, it will be appreciated that in some applications it may be more convenient for the target surface to be moved. Accordingly the above description of the specific embodiment is made by way of example only and not for the purposes of limitation. It will be clear to the skilled person that minor modifications may be made without significant changes to the operation described.
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Astronomy & Astrophysics (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Details Of Measuring And Other Instruments (AREA)
- Machine Tool Units (AREA)
Abstract
L'invention concerne un système de positionnement possédant un dispositif conçu pour positionner un élément sur une surface sphérique cible, un dispositif de rotation du dispositif de positionnement et/ou de la surface cible autour d'un premier axe, et un dispositif de rotation du dispositif de positionnement et/ou de la surface cible autour d'un second axe, ledit second axe se trouvant à un angle aigu par rapport au premier axe. Lesdits premier et second axes traversent le centre de la courbe de la surface sphérique cible.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB0513339A GB0513339D0 (en) | 2005-06-30 | 2005-06-30 | A pick and place system |
GB0513339.2 | 2005-06-30 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2007003906A2 true WO2007003906A2 (fr) | 2007-01-11 |
WO2007003906A3 WO2007003906A3 (fr) | 2007-04-05 |
Family
ID=34856390
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/GB2006/002426 WO2007003906A2 (fr) | 2005-06-30 | 2006-06-30 | Systeme de positionnement |
Country Status (2)
Country | Link |
---|---|
GB (1) | GB0513339D0 (fr) |
WO (1) | WO2007003906A2 (fr) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2010112400A1 (fr) | 2009-03-30 | 2010-10-07 | Politecnico Di Milano | Photodetecteur et procede pour la detection d'un rayonnement optique |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4657472A (en) * | 1983-08-03 | 1987-04-14 | Kuka Schweissanlagen+Roboter Gmbh | Manipulator head assembly |
US20030173340A1 (en) * | 2001-09-28 | 2003-09-18 | Tomonari Mukae | Three-dimensional laser beam machine |
-
2005
- 2005-06-30 GB GB0513339A patent/GB0513339D0/en not_active Ceased
-
2006
- 2006-06-30 WO PCT/GB2006/002426 patent/WO2007003906A2/fr active Application Filing
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4657472A (en) * | 1983-08-03 | 1987-04-14 | Kuka Schweissanlagen+Roboter Gmbh | Manipulator head assembly |
US20030173340A1 (en) * | 2001-09-28 | 2003-09-18 | Tomonari Mukae | Three-dimensional laser beam machine |
Non-Patent Citations (2)
Title |
---|
LUM M J H ET AL: "Kinematic optimization of a spherical mechanism for a minimally invasive surgical robot" ROBOTICS AND AUTOMATION, 2004. PROCEEDINGS. ICRA '04. 2004 IEEE INTERNATIONAL CONFERENCE ON NEW ORLEANS, LA, USA APRIL 26-MAY 1, 2004, PISCATAWAY, NJ, USA,IEEE, US, vol. 1, 26 April 2004 (2004-04-26), pages 829-834, XP010768377 ISBN: 0-7803-8232-3 * |
ZEMITI N ET AL: "A new robot for force control in minimally invasive surgery" INTELLIGENT ROBOTS AND SYSTEMS, 2004. (IROS 2004). PROCEEDINGS. 2004 IEEE/RSJ INTERNATIONAL CONFERENCE ON SENDAI, JAPAN 28 SEPT.-2 OCT., 2004, PISCATAWAY, NJ, USA,IEEE, vol. 4, 28 September 2004 (2004-09-28), pages 3643-3648, XP010766255 ISBN: 0-7803-8463-6 * |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2010112400A1 (fr) | 2009-03-30 | 2010-10-07 | Politecnico Di Milano | Photodetecteur et procede pour la detection d'un rayonnement optique |
Also Published As
Publication number | Publication date |
---|---|
WO2007003906A3 (fr) | 2007-04-05 |
GB0513339D0 (en) | 2005-08-03 |
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