Claims
- 1. A robotic system for lapping a surface, the robotic system comprising:
a robotic arm for applying pressure; and a end effector unit including:
a base attached to the robotic arm; a plate; a lapping pad attached to the plate; a pivot joint for allowing the plate to pivot about two orthogonal axes; and a component for absorbing pressure applied to the end effector unit.
- 2. The system of claim 1, wherein the component includes a spring-loaded shaft.
- 3. The system of claim 1, wherein the component includes a pneumatic shaft.
- 4. The system of claim 3, wherein the component further includes a pneumatic sensor for sensing pressure applied to the plate.
- 5. The system of claim 1, wherein the two axes are substantially parallel to the planar surface.
- 6. The system of claim 5, wherein the two axes are substantially orthogonal to a direction of the pressure applied to the robot.
- 7. The system of claim 5, wherein the pivot joint includes a universal joint.
- 8. The system of claim 5, wherein the pivot joint includes a gimbaled joint.
- 9. The system of claim 5, wherein the pivot joint includes a needle bearing joint.
- 10. The system of claim 5, wherein the pivot joint includes a ball and socket joint.
- 11. The system of claim 10, wherein the ball and socket joint includes a half-ball and socket joint.
- 12. The system of claim 10, wherein the ball and socket joint includes a crossed-pin ball and socket joint.
- 13. A lapping end effector comprising:
a base; a plate having a planar surface; a lapping pad attachable to the planar surface of the plate; and a pivot joint for allowing the plate to pivot about two axes, the pivot joint including a pressure absorbing component for absorbing a predetermined amount of pressure applied to the plate.
- 14. The system of claim 13, wherein the pressure absorbing component includes a spring.
- 15. The system of claim 13, wherein the two axes are substantially parallel to the planar surface.
- 16. The system of claim 15, wherein the pivot joint includes a universal joint.
- 17. The system of claim 15, wherein the pivot joint includes a hexagonal ball joint.
- 18. The system of claim 15, wherein the pivot joint includes a crossed-pin ball and socket joint.
- 19. A robotic system for lapping a surface, the robotic system comprising:
a robotic arm; a support member coupled to the robotic arm; and a plurality of end effector units including:
a base attached to the support member; a plate having a planar surface; a lapping pad attachable to the planar surface of the plate; and a pivot joint for allowing the plate to pivot about two axes; and one or more components for absorbing pressure applied to each end effector unit.
- 20. The system of claim 19, wherein the one or more components include a spring-loaded shaft.
- 21. The system of claim 19, wherein the one or more components include a pneumatic shaft.
- 22. The system of claim 19, wherein the one or more components include a spring.
- 23. A method for lapping a surface, the method comprising:
applying pressure by a robot between a lapping pad attached to a plate having a planar surface and the surface; pivoting the plate to move about two axes, wherein the two axes are substantially parallel to the planar surface and the applied pressure is substantially orthogonal to the two axes; and absorbing at least some of the applied pressure.
RELATED APPLICATION
[0001] This patent application is related to concurrently-filed patent applications entitled “Contour Following End Effectors for Lapping/Polishing”, bearing attorney docket number BOEI-1-1101, and “Automated Lapping System”, bearing attorney docket number BOEI-1-1121, which are hereby incorporated by reference.
GOVERNMENT LICENSE RIGHTS
[0002] This invention was made with Government support under U.S. Government contract F33615-97-2-3400 awarded by United States Air Force. The Government has certain rights in this invention.