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Interactive Graphics Trajectory Design Method

IP.com Disclosure Number: IPCOM000085348D
Original Publication Date: 1976-Mar-01
Included in the Prior Art Database: 2005-Mar-02
Document File: 3 page(s) / 63K

Publishing Venue

IBM

Related People

Appel, A: AUTHOR [+3]

Abstract

There are many ways to program or otherwise record the desired motions of an automatic assembly device. One very reliable method is to directly operate such a device and record the motor commands. A second method is to prepare, offline, a list of motor commands which will be later tested and modified. It is conceivable special languages will evolve.

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Interactive Graphics Trajectory Design Method

There are many ways to program or otherwise record the desired motions of an automatic assembly device. One very reliable method is to directly operate such a device and record the motor commands. A second method is to prepare, offline, a list of motor commands which will be later tested and modified. It is conceivable special languages will evolve.

The method to be described is intermediate in characteristic between "training" and "programming". This method has the virtue that the feel for the mechanical assembler is not lost, yet designing the motions need not be tedious.

The interactive graphics program embodies certain principles of mechanical assembler path design which are:
1. Direct control of parts (and by implication drive motors) of

the device.
2. Continuous checking by the computer of valid spatial moves and

end conditions.
3. Immediate visual notification of a legal move or the reason

for a void or cancelled move.
4. Automatic reset of control conditions.
5. Some numerical statement of the efficiency or time required to

complete the task.

There are four phases to using interactive graphics:
1. Part description - Any method will do - The most promising

is by approximating polyhedra.
2. Device description - Need be sufficient for interference and

gripping testing.
3. A suitable display of the mechanical assembler is required

which is a valid simulation of the device. A typical

kinematic display model is shown in Fig. 1 which shows a

typical graphics display of a simulation model.

The functions of the light pen detectable elements are: S1 - Lengthen link L2 and translate L1 and the gripper. S2 - Shorten link L2 and translate L1 and the gripper. S3 - Lengthen link L3 and translate L1, L2, gripper. S4 - Shorten link L3 and translate L1, L2, gripper. S5 - Lengthen link L4 and translate L1, L2, L3, gripper. S6 - Shorten link L4 and translate L1, L2, L3, gripper. S7 - Rotate gripper clockwise in XY plane. S8 - Rotate gripper counterclockwise in XY plane. S9 - Rotate gripper, L1, L2, L3 clockwise in XY plane. S10- Rotate gripper, L1, L2, L3 counterclockwise in XY plane. A1 - Increment viewpoint upward. A2 - Increment viewpoint downward. A3 - Increment viewpoint clockwise in XY plane...