Flexible fixture
A system and method for supporting a workpiece includes a plurality of support assemblies with movable heads. Positional errors are ascertained for the heads based on different positions thereof and used to properly position the heads to support the workpiece. Other inventive aspects are directed to features of the support assemblies and heads thereof.
1. A system for supporting a workpiece, the system comprising: a holding assembly comprising a plurality of support assemblies, each support assembly comprising a head adapted to support a portion of the workpiece, each head being movable from a reference position to a position remote from the reference position; and a controller configured to access a model of the holding assembly having at least some of the support assemblies and a model of the workpiece to be supported by the holding assembly, wherein the controller is configured to ascertain a positional error associated with each support assembly, the positional error being based on a difference from a presumed remote position of the head when the head is moved from the reference position and an actual remote position when the head is moved from the reference position, and wherein the controller is configured to ascertain a desired position of each head of each of said at least some of the support assemblies based on the model of the holding assembly and the model of the workpiece to be supported and based on the positional error associated with the support assembly, the controller being configured to provide output signals related to the desired positions of the heads.
2. The system of claim 1 and further comprising a positioning assembly configured to adjust a position of each head based on the output signals from the controller.
3. The system of claim 2 wherein the positioning assembly is configured to engage and manipulate the position of the head.
4. The system of claim 2 wherein the positioning assembly is configured to engage and manipulate the head in multiple degrees of freedom.
5. The system of claim 1 wherein the controller is configured to ascertain a vector that is normal to an outer surface of the workpiece for each support assembly based on the corresponding positional error and use each associated vector to obtain each corresponding desired position.
6. The system of claim 5 wherein each support assembly includes a support rod arranged to provide support for a corresponding head.
7. The system of claim 6 wherein the head is configured to tilt with respect to a longitudinal axis of the support rod, and wherein the controller is configured to use the positional error to adjust a tilt of the head with respect to the longitudinal axis of the support rod.
8. The system of claim 7 wherein the head is configured to rotate with respect to a longitudinal axis of the support rod, and wherein the controller is configured to use the positional error to adjust the rotation of the head with respect to the longitudinal axis of the support rod.
9. The system of claim 8 wherein the support rods of at least some of the support assemblies are fixedly coupled to each respective head to move therewith.
10. A system for supporting a workpiece, the system comprising: a holding assembly comprising a plurality of support assemblies, each support assembly comprising a head adapted to support a portion of the workpiece, each head being movable from a reference position to a position remote from the reference position; and a controller configured to ascertain a positional error associated with each support assembly, the positional error being ascertained from a presumed remote position of the head when the head is moved from the reference position and an actual remote position when the head is moved from the reference position, the controller being further configured to use the positional error to adjust a desired position of each respective head in order to support the portion of the workpiece, each desired position being different than any of the reference position, presumed remote position or actual remote position associated with the support assembly.
11. The system of claim 10 wherein the controller is configured to ascertain a vector that is normal to an outer surface of the workpiece for each support assembly based on the corresponding positional error.
12. The system of claim 10 wherein each support assembly includes a support rod arranged to provide support for corresponding head.
13. The system of claim 12 wherein the head is configured to tilt with respect to a longitudinal axis of the support rod, and wherein the controller is configured to use the positional error to adjust a tilt of the head with respect to the longitudinal axis of the support rod.
14. The system of claim 13 wherein the head is configured to rotate with respect to a longitudinal axis of the support rod, and wherein the controller is configured to use the positional error to adjust the rotation of the head with respect to the longitudinal axis of the support rod.
15. The system of claim 14 wherein the support rods of at least some of the support assemblies are fixedly coupled to each respective head to move therewith.
16. The system of claim 15 wherein the controller is configured to access a model of the holding assembly having at least some of the support assemblies and a model of the workpiece to be supported by the holding assembly, wherein the controller is configured ascertain the desired position of each head of each of said at least some of the support assemblies based on the model of the holding assembly and the model of the workpiece to be supported.
17. The system of claim 16 wherein the controller is configured to ascertain a vector that is normal to an outer surface of the workpiece for each support assembly based on the corresponding positional error.
18. The system of claim 17 wherein each support assembly includes a support rod arranged to provide support for corresponding head.
19. The system of claim 18 wherein the head is configured to tilt with respect to a longitudinal axis of the support rod, and wherein the controller is configured to use the positional error to adjust a tilt of the head with respect to the longitudinal axis of the support rod.
20. The system of claim 19 wherein the head is configured to rotate with respect to a longitudinal axis of the support rod, and wherein the controller is configured to use the positional error to adjust the rotation of the head with respect to the longitudinal axis of the support rod.
21. The system of claim 20 wherein the support rods of at least some of the support assemblies are fixedly coupled to each respective head to move therewith.
22. The system of claim 16 and further comprising a positioning system adapted to engage each of the support assemblies to move each corresponding head, the positioning system being coupled to the controller to receive command signals from controller to selectively move each head of each support assembly.
23. The system of claim 22 wherein the controller is configured to use the positioning system to ascertain the reference position and the actual remote position remote from the reference position for each corresponding support assembly.