Six degrees of freedom compliant flexure and autonomous assembly using same
View Patent ↗A flexure having six degrees of freedom is disclosed. The constraint and compliance of the flexure in all six degrees of freedom may be independently tuned for an application. The flexure may include various combinations of sections including, for example, straight arm and curvilinear sections. The constraint and compliance of the flexure is determined by the geometry, cross-sectional area, cross-sectional shape, and material used to form the various sections. A coupling mechanism and a corresponding method for using the coupling mechanism for automated or autonomous assembly of elements using tuned flexures is disclosed. The automated or autonomous assembly of elements employs a coupling mechanism having a motor driven grip and a coupler, in which the coupler includes a six degrees of freedom flexure. The motor driven grip and coupler may optionally include electrical or optical interconnections and self-aligning features.
1. A coupling mechanism comprising:
a grip, wherein the grip includes:
a jaw; and
a jaw actuator mechanically coupled to the jaw, the jaw actuator adapted to actuate the jaw; and
a coupler, wherein the coupler includes:
a handle, the handle adapted to be engaged by the jaw upon operation of the jaw actuator; and
a six degrees of freedom flexure, the six degrees of freedom flexure mechanically coupled to the handle.
2. The coupling mechanism of claim 1 , wherein the six degrees of freedom flexure includes:
a first mounting block;
a second mounting block opposite the first mounting block; and
at least two beams, the at least two beams adapted to connect the first mounting block to the second mounting block, each of the at least two beams including:
a first section; and
a second section;
wherein the first section is connected to the second section, and
wherein each of the first section and the second section is one of a curvilinear section, a straight arm section, an angle section, a ball-and-socket, a hinge, and a spring.
3. The coupling mechanism of claim 2 , wherein a physical configuration of a first of the at least two beams are different from a physical configuration of a second of the at least two beams, the at least two beams thereby placing the six degrees of freedom flexure in tension.
4. The coupling mechanism of claim 2 , further comprising potting material, the potting material being located between a portion of at least two of the at least two beams.
5. The coupling mechanism of claim 2 , wherein a material used to form the at least two beams are more compliant at a first temperature and less compliant at a second temperature different from the first temperature.
6. The coupling mechanism of claim 2 , wherein the at least two beams are adapted to provide a hard stop limit to at least one of the six degrees of freedom.
7. The coupling mechanism of claim 2 , wherein a compliance of each degree of freedom of the six degrees of freedom of the flexure is determined by one or more of a geometry, a cross-sectional area, a cross-sectional shape, and a material of the first section and the second section.
8. The coupling mechanism of claim 1 , wherein the jaw includes at least one clamp adapted to engage the handle upon operation of the jaw actuator.
9. The coupling mechanism of claim 1 , wherein the jaw actuator includes:
a jaw motor;
a jaw gear drive mechanically coupled to the jaw motor, the jaw gear drive adapted to rotate upon operation of the jaw motor; and
a plurality of actuation arms mechanically coupled to the jaw gear drive and to the jaw, the plurality of actuation arms adapted to extend or retract upon rotation of the jaw gear drive.
10. The coupling mechanism of claim 9 , wherein the plurality of actuation arms is adapted to lock the relative positions of the grip and the coupler.
11. The coupling mechanism of claim 1 , wherein the coupler further includes a handle actuator mechanically coupled to the handle, the handle actuator adapted to extend or retract the handle.
12. The coupling mechanism of claim 11 , wherein the handle actuator includes:
a handle motor; and
a handle gear drive mechanically coupled to the handle motor and to the handle, the handle gear drive adapted to rotate upon operation of the handle motor, wherein the handle gear drive is adapted to extend the handle prior to engagement of the handle by the jaw, and wherein the handle gear drive is adapted to retract the handle after engagement of the handle by the jaw.
13. The coupling mechanism of claim 1 , wherein the grip further includes a grip six degrees of freedom flexure, the grip six degrees of freedom flexure adapted to mechanically couple the grip to a grip panel.
14. The coupling mechanism of claim 1 , wherein the coupler further includes a coupler six degrees of freedom flexure, the coupler six degrees of freedom flexure adapted to mechanically couple the coupler to a coupler panel.
15. The coupling mechanism of claim 1 , wherein the jaw actuator includes:
a spring; and
a spring release, the spring release adapted to release the spring, thereby causing the jaw to engage the handle.
16. The coupling mechanism of claim 1 ,
wherein the grip further includes:
a first electrical coupler mechanically coupled to the jaw;
wherein the coupler further includes:
a second electrical coupler mechanically coupled to the handle; and
wherein the first electrical coupler is adapted to be electrically coupled to the second electrical coupler when the jaw engages the handle.
17. The coupling mechanism of claim 1 ,
wherein the grip further includes:
a first fiber optic connector mechanically coupled to the jaw;
wherein the coupler further includes:
a second fiber optic connector mechanically coupled to the handle; and
wherein the first fiber optic connector is adapted to be optically connected to the second fiber optic connector when the jaw engages the handle.
18. The coupling mechanism of claim 1 ,
wherein the grip further includes:
a first portion of a self-aligning feature;
wherein the coupler further includes:
a second portion of the self-aligning feature; and
wherein the first portion of the self-aligning feature and the second portion of the self-aligning feature are adapted to engage with one another so as to align the grip and the coupler.