阅读说明：本技术 用于机器人涂漆修复中的多自由度柔性致动器力控制系统和方法 (Multi-degree-of-freedom flexible actuator force control system and method for robot painting repair ) 是由 埃里希·A·米尔克 布雷特·R·黑梅斯 于 2019-10-23 设计创作，主要内容包括：本发明提供了一种机器人装置,该机器人装置能够包括端部执行器,该端部执行器被构造成操纵一个或多个工具,该一个或多个工具驱动一个或多个可消耗磨料产品以沿着若干不同的表面维度研磨基底,其中该端部执行器包括：三个线性致动器,该三个线性致动器各自被构造成相对于彼此正交地移动；以及至少一个工具安装座,该至少一个工具安装座联接到该三个线性致动器中的一个线性致动器并且联接到该工具。(The present invention provides a robotic device that can include an end effector configured to manipulate one or more tools that drive one or more consumable abrasive products to abrade a substrate along several different surface dimensions, wherein the end effector comprises: three linear actuators each configured to move orthogonally relative to one another; and at least one tool mount coupled to one of the three linear actuators and to the tool.)

1. A robotic device comprising:

an end effector configured to manipulate one or more tools that drive one or more consumable abrasive products to abrade a substrate along several different surface dimensions, wherein the end effector comprises:

three linear actuators each configured to move orthogonally relative to one another; and

at least one tool mount coupled to one of the three linear actuators and to the tool.

2. The robotic device of claim 1, wherein the at least one tool mount comprises three tool mounts each coupled to a respective one of the three linear actuators, wherein the one or more tools comprises three tools each coupled to a respective one of the tool mounts, wherein the one or more consumable abrasive products comprises three abrasive products each coupled to a respective one of the tools, and wherein the robotic device is configured to abrade the substrate in multiple dimensions simultaneously.

3. The robotic device of any one of claims 1-2, further comprising a force control sensor and device coupled to each of the three linear actuators.

4. The robotic device of any one of claims 1-3, wherein the linear actuator comprises one or a combination of a pneumatic actuator and an electromechanical actuator.

5. A robotic paint repair system comprising:

three consumable abrasive products, each of the three consumable abrasive products configured to abrade a substrate;

three tools each configured to drive a respective one of the three consumable abrasive products;

a robotically controlled end effector configured to manipulate the three tools and the three consumable abrasive products to abrade the substrate in multiple directions simultaneously, wherein the end effector comprises:

three linear actuators each configured to move orthogonally relative to one another; and

three tool mounts each coupled to a respective one of the three linear actuators and to a respective one of the three tools.

6. The robotic paint repair system of claim 5, further comprising a force control sensor and device coupled to each of the three linear actuators.

7. The robotic paint repair system according to any one of claims 5 to 6, wherein the three linear actuators comprise one or a combination of pneumatic and electromechanical actuators.

8. A method of removing a lacquer from a substrate, the method comprising:

providing a robotically controllable end effector having three linear actuators and at least one of the three linear actuators coupled with at least one tool mount;

coupling at least one tool stack comprising a consumable abrasive product and a tool to the at least one tool mount;

independently actuating each of the three linear actuators to move orthogonally relative to each other to position the tool stack as desired within a three-dimensional space, wherein the positioning of the tool stack orients the consumable abrasive product as desired within the three-dimensional space; and

abrading a surface of the substrate with the consumable abrasive product oriented as desired along one or more dimensions of the surface of the substrate.

9. The method of repairing a paint finish of claim 8 wherein the step of actuating orients the consumable abrasive product to correspond in orientation to the orientation of the surface of the substrate in the three dimensions, and wherein the step of abrading the surface of the substrate is along the three dimensions of the surface.

10. The method of repairing a paint coat as claimed in any one of claims 8 to 9, further comprising simultaneously abrading a plurality of separate portions of the surface of the substrate using three separate tool stacks, wherein the three separate tool stacks include the at least one tool stack.

11. A method of repairing a paint coating on a substrate, the method comprising:

providing a robotically controllable end effector having three linear actuators each coupled with a respective tool mount;

coupling three respective tool stacks, each comprising a consumable abrasive product and a tool, to each respective tool mount;

independently actuating each of the three linear actuators to move orthogonally relative to each other to position each of the three tool stacks independently of each other within a three-dimensional space as desired, wherein the positioning of each of the three tool stacks orients each consumable abrasive product within the three-dimensional space as desired; and

simultaneously abrading a plurality of separate portions of the surface of the substrate using each of the three tool stacks, wherein each consumable abrasive product is oriented as desired.

Technical Field

The present disclosure relates to abrasive tools and consumable abrasive products, and more particularly, to robotically-implemented repairs using abrasive tools and consumable abrasive products.

Background

Abrasive tools and related consumable abrasive products are used in many industries. For example, consumable abrasive products are used in woodworking, marine, automotive, construction, and the like. Common abrading tools include orbital sanders, random orbital sanders, belt sanders, angle grinders, die grinders, and other tools for abrading surfaces. Consumable abrasive products can include nonwoven abrasive products, sanding discs, sanding belts, grinding wheels, burrs, wire wheels, polishing discs/belts, deburring wheels, spinning wheels, combination wheels, airfoil discs, airfoil wheels, cutting wheels, and other products used to physically abrade a workpiece. Consumable abrasive products are consumable in the sense that they can be consumed and replaced much more frequently than the abrasive tool with which they are used. For example, a grinding wheel for an angle grinder may last only a few days before replacement is needed, but the angle grinder itself may last many years.

In the automotive industry, abrasive tools and related consumable abrasive products are used to accomplish defect-specific repairs for painting applications (e.g., primer sanding, clearcoat defect removal, clearcoat polishing, etc.). Varnish coating repair is one of the last operations to be automated in the automotive Original Equipment Manufacturing (OEM) sector. Techniques for automating this process, as well as other painting applications suitable for inspection and repair using abrasives and/or robotics (e.g., primer sanding, varnish coating defect removal, varnish coating polishing, etc.), are desired. In addition, this problem has not been solved in the aftermarket sector (e.g., custom car modifications, DIY, car grooming, and crash repairs).

To date, defect-specific repair for painting applications in the automotive industry has remained a manual operation.

Disclosure of Invention

Various examples will now be described to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.

The present disclosure describes systems, methods, and techniques related to various issues in automated defect-specific repair for painting applications. For example, robotic paint repair (material removal and subsequent polishing) is not trivial to automate, with the key issue being that both processing actions are inherently force dependent. I.e. they require an accurate force applied during the treatment to obtain an optimal (or even sufficient) result. Robotic manipulators are inherently rigid systems due to their historical driving force for ever increasing precision, which systems by themselves are not capable of producing significant force control fidelity. With the addition of some advanced force sensing and reaction force control loops/algorithms, it is possible to have the robotic manipulator apply a controlled force to the workpiece, but the system as a whole still suffers from high stiffness (i.e., small position displacements result in large changes in joint torque, resulting in large forces at the end effector). As a solution to the above-mentioned problems, the prior art consists of attaching a softer redundant actuating member between the robot and the tool. This increased flexibility reduces the force-displacement curve and results in a system that can precisely control the applied force over a particular displacement.

Conventional robotic systems in the abrasive field utilize single axis force devices with control loops where pneumatic pressure or current is used to provide flexibility or devices that operate with cylindrical pressure or current with control loops that require calibration but are premised on monitoring cylindrical pressure or current. In this regard, the present inventors have recognized herein systems, methods, and techniques that represent improvements over the prior art. For example, these systems, methods, and techniques may provide multiple degrees of freedom, such as in six axes. According to one example, the inventors have developed a six-axis force/torque system with pneumatic-based control. This configuration is more flexible for multiple tool/sensor configurations, can use off-axis measurements for internal friction compensation, and can provide torque-driven force control (pressure ═ f (axial torque)).

The present inventors have also recognized that in many cases it is desirable for the robot to apply desired forces in multiple directions during the same motion. Having an end effector that allows multiple degree of freedom (DOF) control reduces tool switching and orientation changes during a task. This also reduces the number of scans required to complete a multi-dimensional task. The force may be controlled in a feedback loop, where the required force is input and the force achieved is the feedback term.

Thus, according to one example, where a random orbit tool or other rotating tool is attached to a robot via an end effector (referred to herein as a tool stack in some cases), multiple surfaces may be processed simultaneously. The robot can also handle dead corners via the end effector while monitoring the force applied to the orthogonal surfaces to avoid damaging the substrate or tool. In addition, it becomes feasible to treat the intersection of two or more orthogonal surfaces, as the force applied to multiple surfaces can be monitored and incorporated into the control loop.

According to one example, the end effector disclosed herein involves three linear pneumatic or electromechanical actuators incorporated into one device. The actuators are movable orthogonally to each other to enable three DOF force control. Each actuator may provide flexibility in its respective direction, and a user may remove or disable one or more of the actuators as needed to provide lower DOF force control.

The present disclosure generally contemplates two design types for the end effector device: one with multiple mounting points and the other with a single mounting point. The multi-mount design may allow multiple abrasive tools to be used in the same process, and a single mount design may allow a single tool to be used in multiple DOF.

The details of one or more examples of the disclosure are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the disclosure will be apparent from the description and drawings, and from the claims.

The present disclosure includes, but is not limited to, the following exemplary embodiments:

embodiment 1 is a robotic device that can optionally include: an end effector configured to manipulate one or more tools that drive one or more consumable abrasive products to abrade a substrate along several different surface dimensions, wherein the end effector comprises: three linear actuators each configured to move orthogonally relative to one another; and at least one tool mount coupled to one of the three linear actuators and to the tool.

Embodiment 2 is the robotic device of embodiment 1, wherein the at least one tool mount can include three tool mounts each coupled to a respective one of the three linear actuators, wherein the one or more tools include three tools each coupled to a respective one of the tool mounts, wherein the one or more consumable abrasive products include three abrasive products each coupled to a respective one of the tools, and wherein the robotic device is configured to simultaneously abrade the substrate in multiple dimensions.

Embodiment 3 is the robotic device of any one or combination of embodiments 1-2, optionally further comprising a force control sensor and a device coupled to each of the three linear actuators.

Embodiment 4 is the robotic device of any one or combination of embodiments 1-3, wherein the linear actuator comprises one or a combination of a pneumatic actuator and an electromechanical actuator.

Embodiment 5 is a robotic paint repair system that can optionally include: three consumable abrasive products, each of the three consumable abrasive products configured to abrade a substrate; three tools each configured to drive a respective one of the three consumable abrasive products; a robotically controlled end effector configured to manipulate the three tools and three consumable abrasive products to abrade the substrate in multiple directions simultaneously, wherein the end effector comprises: three linear actuators each configured to move orthogonally relative to one another; and three tool mounts each coupled to a respective one of the three linear actuators and to a respective one of the three tools.

Embodiment 6 is the robotic paint repair system of embodiment 5, optionally further comprising a force control sensor and a device coupled to each of the three linear actuators.

Embodiment 7 is the robotic paint repair system of any one or combination of embodiments 5-6, wherein the three linear actuators include one or a combination of pneumatic and electromechanical actuators.

Embodiment 8 is a method of removing a lacquer on a substrate, which can optionally comprise: providing a robotically controllable end effector having three linear actuators and at least one of the three linear actuators coupled with at least one tool mount; coupling at least one tool stack comprising a consumable abrasive product and a tool to the at least one tool mount; independently actuating each of the three linear actuators to move orthogonally relative to each other to position the tool stack as desired within a three-dimensional space, wherein the positioning of the tool stack orients the consumable abrasive product as desired within the three-dimensional space; and abrading a surface of the substrate with the consumable abrasive product oriented as desired along one or more dimensions of the surface of the substrate.

Embodiment 9 is the method of repairing a paint coat of embodiment 8, wherein the step of actuating is capable of orienting the consumable abrasive product to an orientation corresponding in orientation to an orientation of the surface of the substrate in the three dimensions, and wherein the step of abrading the surface of the substrate is along the three dimensions of the surface.

Embodiment 10 is the method of repairing a paint coat of any one or combination of embodiments 8-9, further comprising simultaneously abrading a plurality of separate portions of the surface of the substrate using three separate tool stacks, wherein the three separate tool stacks include the at least one tool stack.

Embodiment 11 is a method of repairing a paint coating on a substrate, which can optionally comprise: providing a robotically controllable end effector having three linear actuators each coupled with a respective tool mount; coupling three respective tool stacks, each comprising a consumable abrasive product and a tool, to each respective tool mount; independently actuating each of the three linear actuators to move orthogonally relative to each other to position each of the three tool stacks independently of each other within a three-dimensional space as desired, wherein the positioning of each of the three tool stacks orients each consumable abrasive product within the three-dimensional space as desired; and simultaneously abrading a plurality of separate portions of the surface of the substrate using each of the three tool stacks, wherein each consumable abrasive product is oriented as desired.

Drawings

Fig. 1 is a schematic diagram illustrating an example system for robotic paint repair using flexible actuator force control of an end effector according to one example of the present application.

FIG. 2 is a schematic diagram of a control loop for flexibility force control of the system of FIG. 1 according to one example of the present application.

FIG. 3 is a schematic diagram illustrating an end effector having three linear pneumatic or electromechanical actuators and three tool mounting points according to one example of the present application.

FIG. 4 is a schematic illustrating an end effector having three linear pneumatic or electromechanical actuators and a single tool mounting point according to one example of the present application.

Detailed Description

Abrasive tools and related consumable abrasive products present various challenges to individuals and organizations. In one example, over time, workers often generate an intuitive sense of when a workpiece is of a desired quality or when a consumable abrasive product is worn. However, robots that use abrasive tools do not achieve this intuitive perception. Various techniques, systems, and methods are disclosed herein to more accurately control robotic manipulation of an abrasive tool to achieve more desirable results (i.e., in one example, more accurately and more desirably abrading a substrate to remove paint). Other techniques disclosed herein increase processing efficiency by allowing the substrate to be abraded in multiple directions and/or with multiple consumable abrasive products simultaneously.

It should be appreciated that while the following provides exemplary implementations of one or more embodiments, the disclosed systems and/or methods described with respect to fig. 1-4 may be implemented using any number of technologies, whether currently known or in existence. The disclosure should in no way be limited to the illustrative implementations, drawings, and techniques illustrated below, including the exemplary designs and implementations illustrated and described herein, but may be modified within the scope of the appended claims along with their full scope of equivalents.

In one embodiment, the functions or algorithms described herein may be implemented in software. The software may be comprised of computer-executable instructions stored on a computer-readable medium or computer-readable storage device, such as one or more non-transitory memories or other types of hardware-based storage devices, local or networked. Additionally, such functions correspond to modules, which may be software, hardware, firmware, or any combination thereof. Various functions may be performed in one or more modules as desired, and the described embodiments are merely examples. The software may be executed on a digital signal processor, ASIC, microprocessor, or other type of processor running on a computer system, such as a personal computer, server, or other computer system, to transform such computer system into a specifically programmed machine.

In accordance with one aspect of the present disclosure, a system is disclosed that includes an end effector configured to manipulate one or more tools that drive one or more consumable abrasive products to abrade a substrate along several different surface dimensions. The end effector may include: three linear actuators each configured to move orthogonally relative to one another; and at least one tool mount coupled to one of the three linear actuators and to the one or more tools. According to one example as described herein, data (e.g., force, torque, pressure, etc.) collected about the end effector can be used to control the robotic device and automate the process of using automated abrasive processing and subsequent polish repairs to automate defects for paint applications. The disclosed techniques, systems, and methods may include a novel combination of robotics, end effector design, tools, sensing techniques, stochastic process strategies that result in desired system behavior based on current component/system state and provided feedback, and optional learning components that are capable of optimizing the provided process strategies, continuously adjusting the strategies due to customer upstream process variations, and/or learning the process strategies with little to no human intervention from scratch. Although described with reference to repairing defects for painting applications, the disclosed techniques, methods, and systems may be used in other abrasive applications.

According to one aspect of the application, the system includes a computing system configured to: data regarding the measured characteristic indicative of the at least one operating parameter of the end effector is received from the communication unit. The system can use data for control/feedback to guide the robot's manipulation of the end effector, and can use data for control/feedback of the end effector itself to add flexibility that smoothes the force-displacement curve and results in a system that can accurately control the applied force over a particular displacement.

FIG. 1 is a highly schematic view of a system 10 that may be used for robotic paint repair. The system 10 may include a consumable abrasive product 12, an abrasive tool 14, a robotic device 16, a force-controlled flexible actuator 18, and a back-up pad 20. As used herein, the consumable abrasive product 12, the abrasive tool 14, the force-controlled flexible actuator 18, the back-up pad 20, and other components further illustrated in fig. 3 and 4 may constitute an end effector 24. The end effector 24 is generally synonymous with the term tool stack; thus, in this document, the term "stack" is an end effector in the context of robotic paint repair. Additionally, while the description is provided for robotic paint repair including repair of primer, paint, and clear coat, it should be understood that the techniques described herein are applicable to other industrial applications besides paint repair.

The consumable abrasive product 12 may be configured to abrade a substrate (not shown). As discussed, in one application of the system 10, the abrasive product may be used for defect-specific repair of painting applications (e.g., primer sanding, varnish coating defect removal, varnish coating polishing, etc.). Thus, the consumable abrasive product 12 can be configured for such sanding and polishing applications. The tool 14 may be coupled to the consumable abrasive product 12 and configured to drive the consumable abrasive product to abrade a substrate. The robotic device 16 may be coupled to the tool 14 and configured to manipulate the tool. Thus, the robotic device 16 may move the tool 14 in three-dimensional space via the force-controlled flexible actuator 18 as desired, while the tool 14 is operable to drive the consumable abrasive product 12 for abrading. The force-controlled flexible actuator 18 may be mechanically, pneumatically, and/or electrically coupled to and may be part of other components of the end effector 24, such as the tool 14. In the example of fig. 1, a force-controlled flexible actuator 18 may be coupled to the tool 14 at one end and coupled to the robotic device 16 at another end.

Examples of force-controlled flexible actuators 18 are provided in fig. 3 and 4, and may be physical and sensory components of the end effector 24. The force-controlled flexible actuator 18 may be configured to measure the force of exertion via sensors in various components of the end effector 24 (such as the back-up pad 20, the consumable abrasive product 12, the tool 14). In some examples, the sensor may also be used to measure the real force on a substrate (not shown). Force-controlled flexible actuator 18 may also measure other implemented forces, such as the forces of robotic device 16, and may be configured to control the manipulation of the robotic device and/or other operating criteria of end effector 24 based on the implemented forces. This may result in a changed stiffness of the end effector 24 due to a change in the force/pressure applied to its components (most notably the consumable abrasive product 12) due to the force-controlled flexible actuator 18. The force-controlled flexible actuator 18 may also include various types of feedback, including force sensing and/or torque sensing. The force-controlled flexible actuator 18 may also implement low-friction technologies such as, but not limited to, air slides and gearless electric linear units. The force-controlled flexible actuator 18 may also be actuated pneumatically or electromechanically.

The back-up pad 20 may be positioned, for example, between the consumable abrasive product and the tool 14. The back-up pad 20 may be coupled with the consumable abrasive product 12. According to one example, support cushion 20 may have an outer layer of natural or synthetic rubber (e.g., urethane rubber or chloroprene rubber) as the primary material. Support cushion 20 may have an inner layer, which may be a foam body obtained, for example, from natural or synthetic rubber. The foam body may be a closed cell foam or an open cell foam. Alternatively, the material of the inner layer may be natural rubber or synthetic rubber.

As discussed briefly above and now specifically illustrated with respect to fig. 2, the force-controlled flexible actuator 18 may rely on the sensed torque of the tool 14, support pad 20, substrate, or other component of fig. 1 as an input to the illustrated feedback loop. This input can be used to actuate the force controlled flexible actuator 18 to control the applied force. For example, the force-controlled flexible actuator 18 may use an input torque and may be actuated (using a pneumatic mechanism, a servo-electric mechanism, etc.) to vary the force from the robotic device 16 in order to apply a desired force and a desired stiffness to the consumable abrasive product 12. In this way, by using the force-controlled flexible actuator 18, transfer of an undesirable amount of force/pressure or the like, such as the real force of the robotic device 16 (if too high), to the consumable abrasive product 12 (and thus to the substrate), which may be caused by undesired manipulation of the robotic device 16, may be avoided.

This process is illustrated in the control system 200 of fig. 2, where the sensed torque is used and input to the controller 202 from a feedback loop. The controller 202 may be in electronic communication with a pressure controller 204 (e.g., part of the force-controlled flexible actuator 18). The pressure controller 204 may control the pressure and force applied to the tool stack 208 via a pneumatic sled 206 or another type of flexible device known in the art, including but not limited to a mass spring damper system, a gearless electric linear unit, an air spring, and a pneumatic bellows. The torque or force of the tool stack 208 (such as from a back-up pad, tool, CAP, substrate as previously described) may be continuously measured and used as feedback for the control system 200. In response, the control system 200 may change the pressure, force, and other operating criteria via the controller 202 if the torque or another monitored value changes.

The desired force may include, for example, a range, a target, a maximum, a minimum. The desired stiffness may include, for example, one or more of angular stiffness and lateral stiffness.

High levels of manual varnish coating repair processes are widely recognized and recognized in the industry. This is a two-step process: grinding/sanding and polishing/buffing. From an automation point of view, the following inputs and outputs may be relevant in different embodiments (with examples from the 3M Finesse-it system):

FIG. 3 is a schematic view of a device 110 that may be used as part of the system of FIG. 1 for robotic paint repair. The device 110 may include a portion of an end effector 114 and a robotic device 112. The portion of the end effector 114 shown in FIG. 3 includes a sensor 116. The portion of the end effector 114 shown in fig. 3 also includes three tool mounts 120A, 120B, and 120C and three linear actuators 118A, 118B, and 118C that are each configured to move orthogonally relative to one another. Other components of the end effector 114, such as abrasive tools 122A, 122B, 122C and CAPs 124A, 124B, and 124B are shown in highly schematic form in dashed lines. It should be appreciated that other portions of the end effector 114, such as those previously shown in fig. 1, are not specifically shown in fig. 3.

In the example of fig. 3, the linear actuators 118A, 118B, and 118C may be pneumatic actuators, electric servo motor powered actuators, or a combination thereof. The three linear actuators 118A, 118B, and 118C are each configured (oriented) to move orthogonally relative to each other. Each tool mount 120A, 120B, and 120C may be coupled/connected with a respective one of the three linear actuators 118A, 118B, and 118C. Thus, the tool mount 120A may be coupled with the linear actuator 118A. The tool mount 120B may be coupled with the linear actuator 118B. The tool mount 120C may be coupled with the linear actuator 118C.

Thus, for the example of fig. 3, three tool mounts 120A, 120B, and 120C are each coupled to a respective one of the three linear actuators 118A, 118B, and 118C. Three tools 122A, 122B, and 122C are each coupled to a respective one of the tool mounts 120A, 120B, and 120C. Each of the three abrasive products 124A, 124B, and 124C is coupled to a respective one of the tools 122A, 122B, and 122C. The robotic device 112 is configured to abrade a substrate in multiple dimensions simultaneously and in multiple locations simultaneously using the end effector 114. In particular, the three consumable abrasive products 124A, 124B, and 124C may each be configured to abrade the substrate at a different portion of the substrate. The three tools 122A, 122B, and 122C may each be configured to drive a respective one of three consumable abrasive products 124A, 124B, and 124C. In addition, the multiple tools 122A, 122B, and 122C may be different tools, each tool for grinding the same substrate in the same location, thereby minimizing tool change time. Sensor 116 may include a force control sensor coupled to each of three linear actuators 118A, 118B, and 118C.

Fig. 4 is a schematic view of a device 210 that may be used as part of the system of fig. 1 for robotic paint repair. The device 210 may include a portion of an end effector 214 and a robotic device 212. The portion of the end effector 214 shown in FIG. 4 includes a sensor 216. The portion of the end effector 114 shown in fig. 3 also includes a single tool mount 220 and three linear actuators 218A, 218B, and 218C each configured to move orthogonally relative to one another. Other components of the end effector 214, such as the abrasive tool 222 and CAP 124, are shown in phantom lines in a highly schematic manner. It should be appreciated that other portions of the end effector 214, such as those previously shown in fig. 1, are not specifically shown in fig. 4.

In the example of fig. 4, the linear actuators 218A, 218B, and 218C may be pneumatic actuators, electric servo motor powered actuators, or a combination thereof. The three linear actuators 218A, 218B, and 218C are each configured (oriented) to move orthogonally relative to each other. A single tool mount 220 may be coupled/connected with only one of the three linear actuators 218A, 218B, and 218C. In the illustrated example, the tool mount 220 is coupled to a linear actuator 218A. However, due to the interconnected configuration of the three linear actuators 218A, 218B, and 218C and the end effector 214 design, the tool mount 220 is movable by linear movement of the three linear actuators 218A, 218B, and 218C in three dimensions (indicated with the cartesian coordinate system of fig. 4). As with the example of fig. 3, the example of fig. 4 may thus be movable in three dimensions. Thus, because the substrate has a three-dimensional surface, the end effector 114, 214 may also be steerable in three dimensions. These three dimensions for manipulation (caused by three independent linear movements) may be oriented to correspond to the dimensions of the surface of the substrate, such that surface abrasion along the three dimensions may be achieved. Thus, the end effector 114, 214 may be configured to manipulate one or more tools that drive one or more consumable abrasive products to abrade a substrate along several different surface dimensions.

Thus, according to one method that may be implemented using, for example, the devices 110, 210, a robotically-controllable end effector is provided having three linear actuators and at least one of the three linear actuators is coupled with at least one tool mount. The method can couple at least one tool stack including a consumable abrasive product and a tool to at least one tool mount. Each of the three linear actuators can be independently actuated to move orthogonally relative to one another to position the tool stack in three-dimensional space as desired, wherein the positioning of the tool stack orients the consumable abrasive product in three-dimensional space as desired. The surface of the substrate may be abraded using the consumable abrasive product oriented as desired along one or more dimensions of the surface of the substrate. For the method, the step of actuating can orient the consumable abrasive product in an orientation corresponding to an orientation of the surface of the substrate in three dimensions, and wherein the step of abrading the surface of the substrate is along the three dimensions of the surface. For the method, three separate tool stacks can be used to simultaneously abrade separate portions of the surface of the substrate, wherein the three separate tool stacks include the at least one tool stack.

According to another approach specific to the example of fig. 3, a robotically controllable end effector may be provided having three linear actuators each coupled with a respective tool mount. The method can couple three respective tool stacks, each comprising a consumable abrasive product and a tool, to each respective tool mount. The method may independently actuate each of the three linear actuators to move orthogonally relative to each other to position each of the three tool stacks independently of each other in three-dimensional space as desired, wherein the positioning of each of the three tool stacks orients each consumable abrasive product in three-dimensional space as desired. In addition, the method may simultaneously abrade multiple separate portions of the surface of the substrate using each of the three tool stacks, with each consumable abrasive product oriented as desired.

It will be recognized that, according to an example, some acts or events of any of the techniques described herein can be performed in a different order, added, combined, or left out altogether (e.g., not all described acts or events are necessary for the practice of the techniques). Further, in some examples, acts or events may be performed concurrently, e.g., through multi-threaded processing, interrupt processing, or multiple processors, rather than sequentially.

In one or more examples, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium and executed by a hardware-based processing unit. The computer readable medium may comprise a computer readable storage medium, which corresponds to a tangible medium, such as a data storage medium, or a communication medium, which includes any medium that facilitates transfer of a computer program from one place to another, such as according to a communication protocol. In this manner, the computer-readable medium may generally correspond to (1) a non-transitory tangible computer-readable storage medium or (2) a communication medium such as a signal or carrier wave. A data storage medium may be any available medium that can be accessed by one or more computers or one or more processors to retrieve instructions, code and/or data structures for implementing the techniques described in this disclosure. The computer program product may include a computer-readable medium.

By way of example, and not limitation, such computer-readable storage media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, flash memory, or any other medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer. Also, any connection is properly termed a computer-readable medium. For example, if instructions are transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, Digital Subscriber Line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium.

It should be understood, however, that computer-readable storage media and data storage media do not include connections, carrier waves, signals, or other transitory media, but are instead directed to non-transitory, tangible storage media. Disk and disc, as used herein, includes Compact Disc (CD), laser disc, optical disc, Digital Versatile Disc (DVD), floppy disk and blu-ray disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.

The instructions may be executed by one or more processors, such as one or more Digital Signal Processors (DSPs), general purpose microprocessors, Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs), or other equivalent integrated or discrete logic circuitry, as well as any combinations of such components. Thus, as used herein, the term "processor" may refer to any of the foregoing structure or any other structure suitable for implementing the techniques described herein. In addition, in some aspects, the functionality described herein may be provided within dedicated hardware and/or software modules. Furthermore, the techniques may be implemented entirely in one or more circuits or logic units.

The techniques of this disclosure may be implemented in a wide variety of devices or apparatuses including a wireless communication apparatus or wireless handset, a microprocessor, an Integrated Circuit (IC), or a set of ICs (e.g., a chipset). Various components, modules, or units are described in this disclosure to emphasize functional aspects of devices configured to perform the disclosed techniques, but do not necessarily require implementation by different hardware units. Rather, as noted above, various combinations of elements may be combined in hardware elements or provided by a collection of interoperative hardware elements including one or more processors as noted above, in conjunction with suitable software and/or firmware.

In one example, the techniques or algorithms described herein may be implemented in software. The software may be comprised of computer-executable instructions stored on a computer-readable medium or computer-readable storage device, such as one or more non-transitory memories or other types of hardware-based storage devices, local or networked. Additionally, such functions correspond to modules, which may be software, hardware, firmware, or any combination thereof. Various functions may be performed in one or more modules as desired, and the examples described are merely illustrative. The software may be executed on a digital signal processor, ASIC, microprocessor, or other type of processor running on a computer system, such as a personal computer, server, or other computer system, to transform such computer system into a specifically programmed machine.

Various examples have been described. These and other examples are within the scope of the following claims.