The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Feb. 28, 2023
Filed:
Jan. 17, 2022
GM Global Technology Operations Llc, Detroit, MI (US);
Muhammad E. Abdallah, Farmington Hills, MI (US);
James W. Wells, Rochester Hills, MI (US);
GM Global Technology Operations LLC, Detroit, MI (US);
Abstract
An underactuated joining system for a moving assembly line includes a robot with actuated joints, an articulated compliance mechanism, and a controller. An end-effector of the mechanism is connected to linkages and to a joining tool, unactuated joints interconnect the linkages, and position sensors measure joint positions of the unactuated joints. In response to the joint positions, a controller regulates a position of the actuated joints to cause the compliance mechanism to compliantly follow the assembly line. This occurs while the tool remains engaged with a workpiece being transported along the assembly line. A method includes engaging the tool with the workpiece as the workpiece is transported by the assembly line, measuring joint positions of the unactuated joints using position sensors, and controlling a position of the active joints to cause the compliance mechanism to compliantly follow the workpiece along the assembly line.