3-D printed metrology feature geometry and detection
Aspects for implementing 3-D printed metrology feature geometries and detection are disclosed. The apparatus may a measurement device for a 3-D printed component. The component may include a plurality of printed-in metrology features arranged at different feature locations on a surface of the component. The measurement device can be configured to detect the feature locations of the printed-in metrology features and to determine a position or an orientation of the component based on the detected feature locations. In various embodiments, the metrology feature may be a protruding or recessed spherical portion, with the corresponding feature location at the center of the sphere.
1. A 3-D printed component comprising:
a plurality of metrology features arranged at different feature locations on a surface of the component and configured to enable a measurement device to detect the feature locations and to determine at least a component position or a component orientation of the component based on the detected feature locations, wherein each of the metrology features is printed-in with the component; and
an engagement feature configured to be engaged by a robot end effector of a robot, wherein the engagement feature is printed-in with the component.
2. The 3-D printed component of claim 1 , wherein the plurality of metrology features comprises three metrology features, wherein the three metrology features are configured to enable the measurement device to triangulate the feature locations.
3. The 3-D printed component of claim 1 , wherein the plurality of metrology features includes a first metrology feature, and a shape of the first metrology feature comprises a portion of a sphere.
4. The 3-D printed component of claim 3 , wherein the portion of the sphere comprises a protruding spherical portion from the surface or a recessed spherical portion from the surface.
5. The 3-D printed component of claim 1 , wherein at least one of the metrology features comprises at least a cone or a pyramid.
6. The 3-D printed component of claim 5 , wherein the pyramid comprises a trihedral pyramid or a four-sided pyramid.
7. The 3-D printed component of claim 1 , wherein the component comprises a node.
8. The 3-D printed component of claim 1 , wherein each of the plurality of metrology features is located on the surface within a range of angles of incidence of an energy beam from the measurement device, the range of angles measurable relative to a coordinate axis normal to the surface and representing a maximum field of view of the measurement device.
9. The 3-D printed component of claim 1 , wherein a shape and location of each of the plurality of metrology features is selected to allow the robot to concurrently or sequentially contact the component to stabilize, re-orient, or re-position the component.
10. The 3-D printed component of claim 9 , wherein a measurement is taken during the stabilization, the reorientation or the repositioning of the component without having to disengage the robot from the component.
11. The 3-D printed component of claim 1 , wherein the plurality of metrology features includes a first metrology feature, wherein a position of the first metrology feature is selected to allow more than one robot to concurrently, or selectively in sequence, access the component for performing one or more functions.
12. The 3-D printed component of claim 11 , wherein the one or more functions include attaching or removing mechanical fixtures, aligning the component with another part, applying adhesive, using tools, sanding the component, or machining the component.
13. The 3-D printed component of claim 1 , wherein the plurality of metrology features includes a first metrology feature having a minimum set-off distance from the engagement feature on the component such that gripping and measurement functions can are concurrently performed.
14. The 3-D printed component of claim 1 , wherein at least one of the metrology features is configured to be removed after the component is assembled.
15. The 3-D printed component of claim 1 , wherein the metrology features are configured to enable a contact-free measurement from the measurement device.
16. The 3-D printed component of claim 1 , wherein the plurality of metrology features includes a first metrology feature, and the first metrology feature includes a generally planar portion of the surface of the component.
17. The 3-D printed component of claim 16 , wherein the first metrology feature further includes at least a protruding portion that protrudes from the generally planar portion or a recessed portion that recedes from the generally planar portion.
18. The 3-D printed component of claim 17 , wherein the generally planar portion surrounds at least the protruding portion or the recessed portion.
19. The 3-D printed component of claim 1 , wherein the engagement feature is located based on the feature locations, such that the metrology features are not obscured from the measurement device during an assembly operation of the robot.
20. An apparatus comprising:
a measurement device for a 3-D printed component, the component including a plurality of printed-in metrology features arranged at different feature locations on a surface of the component, wherein the measurement device is configured to detect the feature locations of the printed-in metrology features and to determine at least a component position or a component orientation of the component based on the detected feature locations,
wherein the determined component position or the determined component orientation includes the measurement of a join frame corresponding to the component.
21. The apparatus of claim 20 , wherein the measurement device is configured to detect a portion of a sphere protruding or receding from the surface and to determine that the detected portion of the sphere comprises one of the plurality of metrology features.
22. The apparatus of claim 21 , wherein the measurement device is configured to define the feature location of a first metrology feature located at a center of the portion of the sphere.
23. The apparatus of claim 20 , wherein the measurement device is configured to determine the component position or the component orientation by determining a least-squares minimization between the detected feature location for each of the metrology features and a corresponding nominal feature location.
24. The apparatus of claim 20 , wherein:
the measurement device is configured to detect a plurality of cones, pyramids, or a combination thereof and to determine that the detected plurality of cones, pyramids, or combination thereof comprises the metrology features.
25. The apparatus of claim 24 , wherein the measurement device is further configured to define the feature location of one of the determined metrology features to be an apex of the cone or pyramid.
26. The apparatus of claim 20 , wherein the join frame includes a coordinate frame adjacent the component for joining the component with another structure.
27. The apparatus of claim 20 , wherein the join frame is oriented along a vector of insertion for a joint in the component.
28. The apparatus of claim 27 , wherein the joint includes a groove for use in a tongue-and-groove connection.
29. The apparatus of claim 20 , wherein the measurement device includes a laser detector.
30. The apparatus of claim 20 , wherein the measurement device is configured to triangulate the feature locations and to determine the at least a component position or the component orientation of the component based on the triangulation.
31. The apparatus of claim 20 , wherein the apparatus comprises a robot;
wherein the robot is configured to position the component for joining with another part based on the determination by the measurement device of the at least the component position or the component orientation using the detected feature locations.
32. A 3-D printed component comprising:
a plurality of metrology features arranged at different feature locations on a surface of the component and configured to enable a measurement device to detect the feature locations and to determine at least a component position or a component orientation of the component based on the detected feature locations, wherein each of the metrology features is printed-in with the component,
wherein the plurality of metrology features includes a first metrology feature having a minimum set-off distance from an engagement feature on the component such that gripping and measurement functions are concurrently performed.