Browse Prior Art Database

Test Fixture: Pitch, Roll, Yaw

IP.com Disclosure Number: IPCOM000046804D
Original Publication Date: 1983-Aug-01
Included in the Prior Art Database: 2005-Feb-07
Document File: 2 page(s) / 60K

Publishing Venue

IBM

Related People

Belue, JC: AUTHOR [+4]

Abstract

The fixture provides a method to align a rotary encoder to the pitch, roll and yaw axes of a robot. The set-up can be used to verify specifications and tests. The encoder 10 is mounted to an angle plate 12 that can be positioned horizontally (pitch axis) and vertically (roll and yaw axes), as shown in Fig. 1. An alignment block 14 is attached to the motor manifold 16 and is positioned by three dowels 18 inserted into existing dowel holes in the manifold 16, as shown in Fig. 2. The .50" diameter pin 20 on the alignment block 14 is now concentric to the motor shaft. The rear vertical and horizontal edges 24 of the adjustable support 22 are indicated to the linear X-Y and Z axes of the robot. The angle plate 12 and adjustable support 22 are rigidly mounted to the top plate of a pair of plates 4.

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Test Fixture: Pitch, Roll, Yaw

The fixture provides a method to align a rotary encoder to the pitch, roll and yaw axes of a robot. The set-up can be used to verify specifications and tests. The encoder 10 is mounted to an angle plate 12 that can be positioned horizontally (pitch axis) and vertically (roll and yaw axes), as shown in Fig. 1. An alignment block 14 is attached to the motor manifold 16 and is positioned by three dowels 18 inserted into existing dowel holes in the manifold 16, as shown in Fig. 2. The
.50" diameter pin 20 on the alignment block 14 is now concentric to the motor shaft. The rear vertical and horizontal edges 24 of the adjustable support 22 are indicated to the linear X-Y and Z axes of the robot. The angle plate 12 and adjustable support 22 are rigidly mounted to the top plate of a pair of plates 4. The adjustment of the top plate is obtained by a .375" diameter ball 1, located in opposed "V" bushings 2 (point A), as shown in Fig. 3. A micrometer 3 is located at the opposite end of the plates 4 with its spherical spindle positioned in a linear "V" groove 5 (point B) . A second micrometer 6 (point C) is located at the midpoint of the A-B axis and at an equal distance from the axis, providing a three-point contact (A-B-C). The plates are held together by three disc spring assemblies 7, 8, 9 that apply pressure on the ball and micrometer spindles. By adjusting the micrometers 3 and 6 an independent two-axis angular displacement is achieved us...