Test head docking system and method

1. A system for docking an electronic test head with a handling apparatus, comprising:

an assembly for bringing together said electronic test head with said handling apparatus;

a mechanism for operating said assembly;

at least one actuator for operating said mechanism; and

at least one sensor for detecting a position of said mechanism.

2. A system for docking an electronic test head with a handling apparatus according to claim 1 , wherein said assembly is for at least partially aligning and subsequently bringing together said electronic test head with said handling apparatus; and

wherein said actuator is a power driven actuator for providing only partially powered assistance in bringing together said electronic test head with said handling apparatus.

3. A system for docking an electronic test head with a handling apparatus according to claim 2 , wherein said test head and said handling apparatus are aligned prior to electrical contact therebetween.

4. A system for docking an electronic test head with a handling apparatus according to claim 2 , wherein said actuator is powered by a variable amount of air pressure to vary tactile response during operation of said assembly.

5. A system for docking an electronic test head with a handling apparatus according to claim 2 , wherein further alignment between said electronic test head and said handling apparatus occurs during bringing together of said electronic test head with said handling apparatus.

6. A system for docking an electronic test head with a handling apparatus according to claim 2 additionally comprising:

a plurality of alignment features on one of said test head and said handling apparatus; and

a plurality of alignment feature receptacles on the other of said test head and said handling apparatus for receiving said alignment features.

7. The system of claim 6 wherein said alignment features are guide pins, and said alignment feature receptacles are guide pin receptacles.

8. The system of claim 7 wherein each of said guide pin receptacles is included in one of a plurality of gussets mounted on one of said test head and said handling apparatus, each of said gussets aligning adjacent to at least one respective cam mounted on the other of said test head and said handling apparatus.

9. The system of claim 6 wherein at least one of said alignment features includes a kinematic mating surface, and a corresponding alignment feature receptacle includes a kinematic surface.

10. The system of claim 9 wherein said kinematic mating surface includes a ball, and said alignment feature receptacle includes a groove.

11. The system of claim 9 wherein said system includes three of said kinematic mating surfaces and three of said alignment feature receptacles, each of said kinematic mating surfaces including a ball.

12. A system for docking an electronic test head with a handling apparatus according to claim 2 additionally comprising:

a plurality of cams, for operating said assembly, mounted on one of said test head and said handling apparatus; and

a plurality of gussets mounted on the other of said test head and said handling apparatus for providing coarse alignment between said test head and said handling apparatus, each of said gussets aligning adjacent at least one of said cams upon said test head and said handling apparatus being brought towards each other.

13. The system of claim 12 wherein said system additionally comprises:

at least one additional sensor for sensing at least one of (a) a position of at least one of said cams, and (b) said test head and said handling apparatus being positioned relative to one another in a coarser one of at least two positions of alignment.

14. A system for docking an electronic test head with a handling apparatus according to claim 2 additionally comprising:

at least one sensor for detecting that said test head and said handling apparatus are positioned relative to each other such that said power driven actuator is operable to bring said electronic test head and said handling apparatus towards each other.

15. A system for docking an electronic test head with a handling apparatus according to claim 14 , wherein said sensor is further for enabling operation of said power driven actuator.

16. The system of claim 1 wherein said mechanism comprises at least two cams.

17. A system for docking an electronic test head with a handling apparatus according to claim 16 , operation of said two cams being mechanically synchronized.

18. A system for docking an electronic test head with a handling apparatus according to claim 16 , further comprising a target which moves with said mechanism, wherein said sensor detects light reflected off of said target.

19. A system for docking an electronic test head with a handling apparatus according to claim 16 , wherein said sensor senses at least one of:

a first position where at least one of said cams, located on one of said test head and said handling apparatus, is ready to receive a respective cam follower, located on the other of said test head and said handling apparatus;

a docked position where said test head and said handling apparatus are docked together; and

a position between said first position and said docked position.

20. The system of claim 1 additionally comprising:

at least one additional sensor for sensing at least one of (a) said test head and said handling apparatus being positioned relative to one another in a coarser one of at least two positions of alignment, and (b) said test head being positioned relative to said handling apparatus such that said at least one actuator is operable to bring said electronic test head and said handling apparatus towards each other.

21. The system of claim 1 additionally comprising:

a plurality of alignment features on one of said test head and said handling apparatus; and

a plurality of alignment feature receptacles on the other of said test head and said handling apparatus for receiving said alignment features.

22. A system for docking an electronic test head with a handling apparatus according to claim 1 , wherein a plurality of cams are situated on one of said test head and said handling apparatus, for operating said assembly;

a plurality of gussets are situated on the other of said test head and said handling apparatus, each of said gussets for aligning adjacent to at least one of said plurality of cams;

wherein said actuator is a power driven actuator for providing powered operation of said cams; and

wherein said sensor is for detecting that said test head and said handling apparatus are positioned relative to one another in a coarser one of at least two positions of alignment.

23. The system of claim 22 additionally comprising:

a plurality of alignment features on one of said test head and said handling apparatus; and

a plurality of alignment feature receptacles on the other of said test head and said handling apparatus for receiving said alignment features.

24. The system of claim 22 wherein said alignment features are guide pins, and said alignment feature receptacles are guide pin receptacles.

25. The system of claim 24 wherein each of said guide pin receptacles is included in one of said plurality of gussets.

26. The system of claim 22 wherein at least one of said alignment features includes a kinematic mating surface, and a corresponding alignment feature receptacle includes a kinematic surface.

27. The system of claim 26 wherein said kinematic mating surface includes a ball, and said corresponding alignment feature receptacle includes a groove.

28. The system of claim 26 wherein said system includes three of said kinematic mating surfaces and three of said alignment feature receptacles, each of said kinematic mating surfaces including a ball.

29. The system of claim 22 additionally comprising:

at least one additional sensor for sensing at least one of (a) a position of at least one of said cams, and (b) said test head being positioned relative to said handling apparatus such that said at least one actuator is operable to bring said electronic test head and said handling apparatus towards each other.

30. A system for docking an electronic test head with a handling apparatus according to claim 1 , wherein a plurality of cams are on one of said test head and said handling apparatus;

gussets are on the other of said test head and said handling apparatus for mating with said cams in order to dock said test head with said handling apparatus; and

cam followers are attached to said gussets for engaging said cams;

wherein said at least one sensor is for determining a relative position between said test head, and said handling apparatus when at least one of said cam followers is engaged with a respective cam.

31. A. system for docking an electronic test head with a handling apparatus according to claim 30 , further comprising a plurality of alignment features on one of said test head and said handling apparatus for aligning said test head with said handling apparatus.

32. A system for docking an electronic test head with a handling apparatus according to claim 30 , wherein powering of said cams is manually overidable.

33. A system for docking an electronic test head with a handling apparatus according to claim 30 , wherein said test head and said handling apparatus are aligned in X, Y, and θz prior to making electrical contact.

34. A system for docking an electronic test head with a handling apparatus according to claim 30 , wherein said sensor senses at least one of:

an actuatable position where said actuators are ready to be actuated;

a docked position where said test head and said handling apparatus are docked together; and

a position between said actuatable position and said docked position.

35. A system for docking an electronic test head with a handling apparatus according to claim 30 , wherein said sensor is a photoelectric sensor.

36. A system for docking an electronic test head with a handling apparatus according to claim 30 , wherein said sensor is a photoelectric sensor which conveys light over fiber optics.

37. A system for docking an electronic test head with a handling apparatus according to claim 30 , wherein said test head remains docked to said handling apparatus after a loss of power.

38. A system for docking an electronic test head with a handling apparatus according to claim 30 , wherein said system includes gussets on one of said test head and said handling apparatus for protecting electrical contacts on at least one of said test head and said handling apparatus prior to docking.

39. A system for docking an electronic test head with a handling apparatus according to claim 16 , wherein at least two cams are situated on one of said test head and said handling apparatus for operating said assembly;

a plurality of gussets are situated on the other of the test head and the handling apparatus, each of said gussets for aligning adjacent to at least one of said plurality of cams;

said at least one actuator is a power driven actuator for providing at least partially powered operation of said cams; and at least one handle is included for optional manual operation of at least one of said cams, said manual operation being in addition to, or independent of, said at least partially powered operation of said cams;

a plurality of alignment features are situated on one of said test head and said handling apparatus;

a plurality of alignment feature receptacles are on the other of said test head and said handling apparatus for receiving said alignment features.

40. The system of claim 39 wherein said alignment feature includes a kinematic mating surface and said alignment feature receptacle includes at least on kinematic surface.

41. The system of claim 39 additionally comprising:

at least one sensor for sensing at least one of (a) a position of at least one of said cams, (b) said test head being positioned relative to said handling apparatus such that said at least one actuator is operable to bring said electronic test head and said handling apparatus towards each other, and (c) said test head and said handling apparatus being positioned relative to one another in a coarser one of at least two positions of alignment.