CA2522097A1 - Cmm arm with exoskeleton - Google Patents

Cmm arm with exoskeleton Download PDF

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Publication number
CA2522097A1
CA2522097A1 CA002522097A CA2522097A CA2522097A1 CA 2522097 A1 CA2522097 A1 CA 2522097A1 CA 002522097 A CA002522097 A CA 002522097A CA 2522097 A CA2522097 A CA 2522097A CA 2522097 A1 CA2522097 A1 CA 2522097A1
Authority
CA
Canada
Prior art keywords
accordance
reporting device
movement
position reporting
movable member
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.)
Granted
Application number
CA002522097A
Other languages
French (fr)
Other versions
CA2522097C (en
Inventor
Stephen James Crampton
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nikon Metrology NV
Original Assignee
Stephen James Crampton
3 D Scanners Limited
Nikon Metrology N.V.
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from GB0309662A external-priority patent/GB0309662D0/en
Priority claimed from GB0327503A external-priority patent/GB0327503D0/en
Priority claimed from GB0405396A external-priority patent/GB0405396D0/en
Application filed by Stephen James Crampton, 3 D Scanners Limited, Nikon Metrology N.V. filed Critical Stephen James Crampton
Publication of CA2522097A1 publication Critical patent/CA2522097A1/en
Application granted granted Critical
Publication of CA2522097C publication Critical patent/CA2522097C/en
Anticipated expiration legal-status Critical
Active legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/03—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring coordinates of points
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/004—Measuring arrangements characterised by the use of mechanical techniques for measuring coordinates of points
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/004—Measuring arrangements characterised by the use of mechanical techniques for measuring coordinates of points
    • G01B5/008—Measuring arrangements characterised by the use of mechanical techniques for measuring coordinates of points using coordinate measuring machines
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/08—Measuring arrangements characterised by the use of mechanical techniques for measuring diameters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/004—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/004—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points
    • G01B7/008—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points using coordinate measuring machines
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37274—Strain gauge
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40305—Exoskeleton, human robot interaction, extenders

Abstract

Apparatus for a CMM Arm with Exoskeleton is provided comprising an Internal CMM Arm with a base end and a probe end, and an Exoskeleton driving the Internal CMM Arm through a plurality of transmission means. One or more contact probes, optical probes and tools are mounted on the probe end. The CMM
Arm with Exoskeleton is provided in manually operable and automated embodiments. The CMM Arm with Exoskeleton is operable for accurate measurement or for performing accurate operations. Methods are provided for operation of the CMM Arm with Exoskeleton.

Claims (120)

1. An apparatus comprising:

- a movable member having a base end, an opposing probe end and three or more segments separated by two or more rotational axes of movement between said base end and said probe end wherein at least two of the said rotational axes of movement are not parallel;
- a movable position reporting devise having a base end, an opposing probe end and three or more segments separated by two or more rotational axes of movement between said base end and said probe end wherein at least two of the said rotational axes of movement are not parallel;
- transmission means in contact with both said movable member and said movable position reporting device, wherein the contact of said transmission means with said movable member is located anywhere between said probe end and the rotational axis of movement closest to said base end;
such that movement of said movable member causes movement of said movable position reporting device.
2. Apparatus in accordance with claim 1 wherein said transmission means is located between the probe end segment of the movable member and the probe end segment of the movable position reporting device.
3. Apparatus in accordance with claim 1 wherein said transmission means comprises a plurality of discrete transmission means.
4. Apparatus in accordance with claim 3 wherein all said discrete transmission means are rigid.
5. Apparatus in accordance with claim 3 wherein all said discrete transmission means are not rigid.
6. Apparatus in accordance with any of claims 1 to 4 wherein at least one of said discrete transmission means is rigid and at least one of said discrete transmission means is not rigid.
7. Apparatus in accordance with any of claims 1, 2, 3, 5 and 6 wherein each of said discrete transmission means is either radial, or torsional, or both radial and torsional.
8. Apparatus in accordance with claim 5 wherein the number of said not rigid discrete transmission means is two and that one of said not rigid discrete transmission means is located between the probe end segment of the movable member and the probe end segment of the movable position reporting device.
9. Apparatus in accordance with claim 5 wherein the number of said not rigid discrete transmission means between said movable member and said movable position reporting device is three.
10. Apparatus in accordance with claim 9 wherein said three not rigid discrete transmission means are located:

- on the base end side of the elbow;
- on the base end side of the wrist;

- on the base end side of the probe end.
11. Apparatus in accordance with claims 9 and 10 wherein:

- said not rigid discrete transmission means on the base end side of the probe end comprises torsional and radial transmission means;
- said other not rigid discrete transmission means comprise radial transmission means.
12. Apparatus in accordance with claim 6 wherein the number of said rigid discrete transmission means is one and that said rigid discrete transmission means is located between the probe end segment of the movable member and the probe end segment of the movable position reporting device.
13. Apparatus in accordance with any of claims 1 to 12 further comprising restraining means to stop auto rotation.
14. Apparatus in accordance with claim 1 wherein said transmission means comprises a continuous transmission means.
15. Apparatus in accordance with any of claims 1 to 3 wherein at least one of said discrete transmission means comprises at least one further controlled axis of movement that can substantially change the relative distance between or the relative orientation between or both the relative distance and relative orientation between the segment of said movable member to which a first end of said discrete transmission means with at least one further controlled axis of movement is attached and the segment of said movable position reporting device to which the other end of said discrete transmission means with at least one further controlled axis of movement is attached.
16. Apparatus in accordance with any of claims 1 to 15 wherein said base end of said movable member and said base end of said movable position reporting device are rigidly attached.
17. Apparatus in accordance with any of claims 1 to 15 wherein said base end of said movable member and said base end of said movable position reporting device are not rigidly attached.
18. Apparatus in accordance with any of claims 1 to 15 wherein said base end of said movable position reporting device is rigidly attached to a segment of said movable member.
19. Apparatus in accordance with claim 17 in which there is relative movement between said base end of said movable member and said base end of said movable position reporting device.
20. Apparatus in accordance with claim 19 wherein said relative movement is measured.
21. Apparatus in accordance with any of claims 1 to 20 in which the number of axes of movement in said movable position reporting device is 6.
22. Apparatus in accordance with claim 21 wherein the types of said axes of movement in said movable position reporting device listed from said base end to said probe end is AOOAOA where A is an axial axis of movement and O is an orthogonal axis of movement.
23. Apparatus in accordance with any of claims 1 to 20 in which the number of axes of movement in said movable position reporting device is 7.
24. Apparatus in accordance with claim 23 wherein the types of said axes of movement in said movable position reporting device listed from said base end to said probe end is AOAOAOA where A is an axial axis of movement and O is an orthogonal axis of movement.
25. Apparatus in accordance with claim 23 wherein the groupings of said axes of movement in said movable position reporting device listed in order of shoulder, elbow and wrist is 3-2-2.
26. Apparatus in accordance with claim 23 wherein the groupings of said axes of movement in said movable position reporting device listed in order of shoulder, elbow and wrist is 2-3-2.
27. Apparatus in accordance with claim 23 wherein the groupings of said axes of movement in said movable position reporting device listed in order of shoulder, elbow and wrist is 2-2-3.
28. Apparatus in accordance with any of claims 1 to 27 wherein said movable member and said movable position reporting device have the same number of segments and axes of movement.
29. Apparatus in accordance with any of claims 1 to 27 wherein said movable member is partial and has less segments and axes of movement than said movable position reporting device.
30. Apparatus in accordance with claim 29 wherein there is one discrete transmission means that is located at the base end side of the elbow.
31. Apparatus in accordance with claim 29 wherein there are two discrete transmission means that are located at the base end side of the elbow and the base end side of the wrist.
32. Apparatus in accordance with claims 21 to 28 wherein said movable member and said movable position reporting device have similar segment lengths, similar axis orientations and similar centres of axis movement.
33. Apparatus in accordance with claim 32 wherein said movable member and said movable position reporting device are approximately coaxial.
34. Apparatus in accordance with claim 33 wherein each axis of movement of said movable position reporting device is approximately coaxial with a corresponding axis of movement of said movable member.
35. Apparatus in accordance with any of claims 1 to 34 wherein said movable member is exterior to said movable position reporting device.
36. Apparatus in accordance with claim 35 wherein the structure of said movable member is open.
37. Apparatus in accordance with claim 35 wherein the structure of said movable member encloses said movable position reporting device.
38. Apparatus in accordance with any of claims 1 to 37 wherein said movable member is displaceable from said movable position reporting device.
39. Apparatus in accordance with claim 38 wherein said movable member is displaced by moving it off said movable position reporting device in an axial direction.
40. Apparatus in accordance with claim 38 wherein said movable member is displaced by opening it and moving it off said movable position reporting device in a radial direction.
41. Apparatus in accordance with any of claims 1 to 40 wherein axial axes of movement and corresponding drive means are disposed towards said base end of each long segment in order to minimise the inertia of said movable member.
42. Apparatus in accordance with any of claims 1 to 41 wherein on said movable member, the distance between the shoulder orthogonal axis of movement and the elbow orthogonal axis of movement is at least 5% greater than the distance between the elbow orthogonal axis of movement and the wrist orthogonal axis of movement.
43. Apparatus in accordance with any of claims 1 to 42 further comprising hard joint limit means on said movable member such that said hard joint limit means prevent said movable position reporting device contacting an inherent limit on a joint of said movable position reporting device.
44. Apparatus in accordance with claim 43 wherein said hard joint limit means on one or more orthogonal axes of movement are set to prevent any of said orthogonal axes of movement from becoming straight where straight is defined as when said orthogonal axis of movement is substantially on a straight line between the two neighbouring axes of movement to said straight orthogonal axis of movement.
45. Apparatus in accordance with claim 43 with increased flexibility wherein said hard joint limit means on one or more orthogonal axes of movement are set to permit any of said orthogonal axes of movement substantially operating on both sides of straight.
46. Apparatus in accordance with any of claims 1 to 34 wherein said movable position reporting device is exterior to said movable member.
47. Apparatus in accordance with any of claims 1 to 45 wherein said movable member is manually operable.
48. Apparatus in accordance with claim 47 where, in any one spatial orientation, the static loads on said movable position reporting device are substantially the same for a wide range of usual manual grip positions and usual manual grip moments on said movable member.
49. Apparatus in accordance with any of claims 1 to 46 wherein said movable member is a robot.
50. Apparatus in accordance with claim 49 in which said robot is anthropomorphic and comprises a series of axes of movement.
51. Apparatus in accordance with any of claims 1 to 50 wherein said movable position reporting device is a CMM arm.
52. Apparatus in accordance with any of claims 1 to 51 that further comprises a controller for causing said probe end of said movable member to move in relation to said base end of said movable member.
53. Apparatus in accordance with claim 52 that comprises a single unit and is portable.
54. Apparatus in accordance with claim 52 that comprises a separate control box.
55. Apparatus in accordance with any of claims 1 to 54 further comprising angular encoders on said movable position reporting device.
56. Apparatus in accordance with any of claims 1 to 54 further comprising drive motors with rotary encoders on said movable member.
57. Apparatus in accordance with claims 55 and 56 wherein a high speed control loop is provided using said rotary encoders and a high accuracy control loop is provided using said angular encoders.
58. Apparatus in accordance with any of claims 1 to 56 in which a single control loop is provided and said angular encoders on said movable position reporting device are the only form of rotary encoding provided.
59. Apparatus in accordance with any of claims 52 to 58 in which said controller can control one or more further axes of movement for displacing any of:

- said base end;
- said object.
60. Apparatus in accordance with any of claims 1 to 59 further comprising one or more probes disposed on said movable position reporting device for collecting probe data.
61. Apparatus in accordance with any of claims 1 to 60 further comprising one or more probes disposed on said movable member for collecting probe data.
62. Apparatus in accordance with any of claims 1 to 61 wherein any of said one or more probes is a non-contact probe.
63. Apparatus in accordance with claim 62 wherein said non-contact probe is a stripe probe.
64. Apparatus in accordance with claim 62 wherein said non-contact probe is an area probe.
65. Apparatus in accordance with any of claims 1 to 62 wherein any of said one or more probes is a contact probe.
66. Apparatus in accordance with claim 65 wherein any said contact probe is a hard probe.
67. Apparatus in accordance with claim 65 wherein any said contact probe is a touch trigger probe.
68. Apparatus in accordance with claim 65 wherein any said contact probe is a force probe.
69. Apparatus in accordance with any of claims 1 to 61 wherein any of said one or more probes is a quantity measuring probe.
70. Apparatus in accordance with any of claims 1 to 69 further comprising probe cover means attached to said movable member.
71. Apparatus in accordance with any of claims 1 to 70 further comprising one or more tools disposed on said movable position reporting device for performing an operation.
72. Apparatus in accordance with any of claims 1 to 71 further comprising one or more tools disposed on said movable member for performing an operation.
73. Apparatus in accordance with claim any of claims 71 and 72 wherein said tool is a milling cutter and said angular encoders on said movable position reporting device provide the position feedback in the control loop such that said milling cutter accurately follows a programmed cutter path.
74. Apparatus in accordance with any of claims 1 to 73 that further comprises a data processor that retrieves said probe data from said one or more probes and positions from said movable position reporting device.
75. Apparatus in accordance with any of claims 1 to 74 in which said probe data and said positions are time synchronised or time stamped.
76. Apparatus in accordance with any of claims 1 to 75 in which a synchronisation pulse is labelled with a systematically changing label.
77. Apparatus in accordance with any of claims 1 to 76 wherein said probe data is collected of an object.
78. Apparatus in accordance with any of claims 1 to 76 wherein said operation is performed on an object.
79. Apparatus in accordance with any of claims 1 to 78 that further comprises one or more active transmission means.
80. Apparatus in accordance with claim 79 wherein one or more of said active transmission means provides axial active support.
81. Apparatus in accordance with claim 79 wherein one or more of said active transmission means provides both axial and radial active support.
82. Apparatus in accordance with any of claims 79 to 81 that further comprises active support control software.
83. Apparatus in accordance with any of claims 79 to 82 that further comprises air bearings.
84. Apparatus in accordance with any of claims 77 to 78 wherein said base end is rigidly attached to said object.
85. Apparatus in accordance with claim 84 wherein said object is a pipe.
86. Apparatus in accordance with any of claims 1 to 83 wherein said base end is mounted on a support means such that said probe data may be collected of or said operation performed on said object at least partially situated under said support means.
87. Apparatus in accordance with claim 86 wherein said support means is a stiff bridge.
88. Apparatus in accordance with claim 87 wherein said stiff bridge further comprises a linear rail on which said base end is mounted such that said base end may be traversed along said linear rail.
89. Apparatus in accordance with any of claims 1 to 83 wherein said object is located on accurate displacing means.
90. Apparatus in accordance with any of claims 1 to 83 wherein said base end is located on accurate displacing means.
91. Apparatus in accordance with any of claims 1 to 83 wherein said object is located on accurate displacing means and said base end is located on accurate displacing means.
92. Apparatus in accordance with any of claims 89 to 91 wherein any of said displacing means comprises one or more axes of movement, each axis of which is either rotational or linear.
93. Apparatus in accordance with any of claims 89 to 92 wherein said displacing means is displaced either manually or automatically
94. Apparatus in accordance with any of claims 1 to 93 wherein said base end is oriented in a direction that is not vertically upwards.
95. Apparatus in accordance with any of claims 1 to 83 that further comprises a mobile vehicle to which the base end of the movable member is attached.
96. Apparatus in accordance with claim 95 wherein the mobile vehicle further comprises feet that can be automatically raised and lowered.
97. Apparatus in accordance with any of claims 1 to 96 in which one or more axial joints further comprise slip rings and said one or more axial joints can rotate without limit.
98. Apparatus in accordance with any of claims 1 to 97 in which said movable member is driven by intelligent drive and high speed bus means such that slip rings can be used to provide rotation without limit on the axial joints.
99. Apparatus in accordance with claim 47 wherein removable drive units are fitted to said movable member for the purpose of automated calibration.
100. Apparatus in accordance with claim 47 wherein a second movable member is attached to said movable member, said second movable member further comprising drive means for the purpose of automated calibration.
101. Apparatus in accordance with claim 47 further comprising an automated movable member such that:

- either said movable member that is manually operable or said automated movable member are attachable to said movable position reporting device;

- said automated movable member is attached to said movable position reporting device for the purpose of automated calibration;

- said movable member that is manually operable is attached to said movable position reporting device for use for the one or more purposes for which it was provided.
102. Apparatus in accordance with claim 49 wherein:

- said robot is attached to said movable position reporting device for the purpose of automated calibration;

- said robot is removable from said movable position reporting device;

- said movable position reporting device is a conventional manual CMM arm for use without said robot attached.
103. Apparatus in accordance with any of claims 1 to 102 wherein the bearing means in one or more joints in said movable position reporting device comprise a pair of pre-stressed ceramic ball bearings.
104. Apparatus in accordance with any of claims 1 to 103 wherein one or more drives further comprises fail-safe brake means.
105. Apparatus in accordance with any of claims 1 to 104 that further comprises a cooling system means in which air is passed between said movable arm and said movable position reporting device.
106. Apparatus in accordance with any of claims 1 to 105 that further comprises a counterbalance means.
107. Apparatus in accordance with any of claims 1 to 106 that further comprises temperature sensing means in at least one location along said movable position reporting device and thermal compensation means.
108. Apparatus in accordance with any of claims 1 to 107 wherein the movable member further comprises at least one external impact absorption means to provide protection in the event of a collision.
109. Apparatus in accordance with any of claims 1 to 108 further comprising a network connection means to a production control system means.
110. Apparatus in accordance with any of claims 1 to 109 further comprising a quantity measuring means.
111. Apparatus in accordance with any of claims 1 to 110 that further comprises one or more strain gauge means affixed to said movable position reporting device.
112. Apparatus in accordance with any of claims 1 to 111 that further comprises one or more holding means acting on said axes of movement on said movable member.
113. Apparatus in accordance with any of claims 1 to 112 that further comprises:

- transportation case means;
- spreader means attached to said base end of said movable member or said base end of said movable position reporting device.
114. Apparatus in accordance with any of claims 1 to 113 that further comprises wireless button unit means.
115. Apparatus in accordance with any of claims 1 to 114 that further comprises:

- a calibration artefact - one or more calibration axes for providing relative movement between said base and said calibration artefact.
116. A method for automatically positioning a movable position reporting device comprising the following steps:

- a controller causes a driving means to generate a driving torque;
- said driving torque is applied to a movable member resulting in movement of said movable member;
- said movable member causes movement of said transmission means;

- said transmission means causes a force to be applied on a rigid part of said movable position reporting device resulting in movement of said movable position reporting device;
wherein said movable member and said movable position reporting device both have a base end, an opposing probe end and three or more segments separated by two or more rotational axes of movement between said base end and said probe end wherein at least two of the said rotational axes of movement are not parallel wherein the contact location of said transmission means with said movable member is anywhere between said probe end and the rotational axis of movement closest to said base end.
117. A method for manually positioning a movable position reporting device comprising the following steps:

- an operator moves said movable member;
- said movable member causes movement of said transmission means;
- said transmission means causes a force to be applied on a rigid part of said movable position reporting device resulting in movement of said movable position reporting device;
wherein said movable member and said movable position reporting device both have a base end, an opposing probe end and three or more segments separated by two or more rotational axes of movement between said base end and said probe end wherein at least two of the said rotational axes of movement are not parallel wherein the contact location of said transmission means with said movable member is anywhere between said probe end and the rotational axis of movement closest to said base end.
118. A method for positioning a movable position reporting device with a probe disposed on said movable position reporting device for determining data of an object comprising the following steps:

- a controller causes a driving means to generate a driving torque;
- said driving torque is applied to a movable member resulting in movement of said movable member;
- said movable member causes movement of said transmission means;
- said transmission means causes a force to be applied on a rigid part of said movable position reporting device resulting in movement of said movable position reporting device;
- said probe collects data of said object;
- a data processor receives a position from said movable position reporting device;
- said data processor receives said data from said probe.
119. A method for positioning a movable position reporting device with a probe disposed on said movable position reporting device for determining data of an object comprising the following steps:

- a controller causes a driving means to generate a driving torque;

- said driving torque is applied to a movable member resulting in movement of said movable member;
- said movable member causes a force to be applied on a transmission means resulting in movement of said transmission means;
- said transmission means causes a force to be applied on a rigid part of said movable position reporting device resulting in movement of said movable position reporting device;
- said probe collects synchronised data of said object and simultaneously sends a synchronisation signal to said movable position reporting device;
- a data processor receives a synchronised position from said movable position reporting device;
- said data processor receives said synchronised data from said probe.
120. A method for positioning a movable position reporting device with a probe disposed on said movable position reporting device for determining data of an object comprising the following steps:

- a controller causes a driving means to generate a driving torque;
- said driving torque is applied to a movable member resulting in movement of said movable member;
- said movable member causes a force to be applied on a transmission means resulting in movement of said transmission means;
- said transmission means causes a force to be applied on a rigid part of said movable position reporting device resulting in movement of said movable position reporting device;
- said probe collects data of said object time stamped by a clock in said probe;
- a data processor receives a position from said movable position reporting device time stamped by a clock in said movable position reporting device;
- said data processor receives said time stamped data from said probe.
CA2522097A 2003-04-28 2004-04-26 Cmm arm with exoskeleton Active CA2522097C (en)

Applications Claiming Priority (9)

Application Number Priority Date Filing Date Title
GB0309662A GB0309662D0 (en) 2003-04-28 2003-04-28 Robot CMM arm
GB0309662.5 2003-04-28
GB0312963A GB0312963D0 (en) 2003-04-28 2003-06-05 Robot CMM arm
GB0312963.2 2003-06-05
GB0327503.9 2003-11-26
GB0327503A GB0327503D0 (en) 2003-04-28 2003-11-26 Cmm arm with exoskeleton
GB0405396.3 2004-03-10
GB0405396A GB0405396D0 (en) 2003-04-28 2004-03-10 CMM arm with exoskeleton
PCT/GB2004/001827 WO2004096502A1 (en) 2003-04-28 2004-04-26 Cmm arm with exoskeleton

Publications (2)

Publication Number Publication Date
CA2522097A1 true CA2522097A1 (en) 2004-11-11
CA2522097C CA2522097C (en) 2012-09-25

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ID=33425333

Family Applications (1)

Application Number Title Priority Date Filing Date
CA2522097A Active CA2522097C (en) 2003-04-28 2004-04-26 Cmm arm with exoskeleton

Country Status (6)

Country Link
US (2) US7395606B2 (en)
EP (1) EP1633534B1 (en)
KR (1) KR20060015557A (en)
CA (1) CA2522097C (en)
GB (1) GB2417090A (en)
WO (1) WO2004096502A1 (en)

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CN114152178A (en) * 2022-02-09 2022-03-08 四川楠水农牧科技有限公司 Farming area measuring device

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US20050166413A1 (en) 2005-08-04
CA2522097C (en) 2012-09-25
GB2417090A (en) 2006-02-15
KR20060015557A (en) 2006-02-17
US7591078B2 (en) 2009-09-22
US7395606B2 (en) 2008-07-08
EP1633534A1 (en) 2006-03-15
WO2004096502A1 (en) 2004-11-11
EP1633534B1 (en) 2018-09-12
GB0523723D0 (en) 2005-12-28

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