Discrete Assembly End Effector (component)
Part v Assembler Complexity
relative robot version (design)
Captive Hardware, example
In order to produce accurate parts from a desirable material (CFRP), I developed a way to cut sets of struts using the branching pattern shown below.
This allows parts to be cut in a single pass, while minimizing the cut time between head and tail of the part, thus resulting in part lengths repeatable within the tolerances of the machine (0.001 in)
The effort for controls is to define the tasks of the machine and then to define motions to accomplish the tasks.
Due to the setup of the machine, we can define these based on simple, internally closed-loop, position control settings.
Then, the build sequence is simply interpolating between these position settings, in sequence.
These positions are as follows: