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Hole Position and Orientation Finder

IP.com Disclosure Number: IPCOM000050972D
Original Publication Date: 1982-Dec-01
Included in the Prior Art Database: 2005-Feb-10
Document File: 2 page(s) / 36K

Publishing Venue

IBM

Related People

Kaftan, RL: AUTHOR [+2]

Abstract

An automatic method is provided to find the position and orientation of a hole located normal to a surface.

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Hole Position and Orientation Finder

An automatic method is provided to find the position and orientation of a hole located normal to a surface.

The device consists of two sets of three LVDTs (Linerar Variable Displacement Transducers) 1,2, 3 and A, B, C, and a spring 10 loaded ball wiggler 12, all of which are mounted in a cylindrical unit 14. The LVDTs provide an analog voltage which is directly proportional to their linear displacement. The LVDTs (A, B, C) which rest on the center pin 16 of the device measure how far the pin is deflected from its center position as can be seen in the bottom view of the figure. The LVDTs (1, 2, 3) on the bottom 18 of the device are used to determine the orientation of a surface relative to the bottom 18 of the device. The principal function of the device is to determine the position of a hole in a surface as well as the local normal to the surface at that point. The manipulator can then be repositioned to this point holding a tool to be inserted in the hole instead of the hole-locating device.

The hole locator must be mounted to the end of the manipulator arm such that the orientation of the LVDTs is known relative to the tool frame of the manipulator. The spring-loaded center pin of probe 16, which extends from the end of the device, must be nominally located in the appropriate hole. The LVDTs 1, 2, 3 which extend from the bottom 18 of the device are used to compute the relationship between the surface of the object and the bo...