US6973734B2
Expired / Lapsed
US
⏱️ 0.0 years remaining
Method for providing sensory feedback to the operator of a portable measurement machine
Assignee: Faro Technologies Inc
•
Filing: 2003-08-15
•
Granted: 2005-12-13
•
Expires: 2023-08-15
Abstract
Abstract A method for providing feedback to the operator of a portable coordinate measurement machine which comprises an articulated arm having jointed arm segments is presented. The method includes sensing deformation of a portion of the articulated arm when the arm is placed under a load, the deformation being an indication of the magnitude of the external force being applied to the arm, and providing feedback to the operator of the CMM in response to the sensed external forces.
Inventors
- 👤 Simon Raab
- 👤 Seyed Ali Sajedi
- 👤 Kenneth J. Hasloecher
- 👤 Marc Barber
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-02 00:59
CPC Classifications
B; B23; B23Q; B23Q35/00; B23Q35/04; B25; B25J; B25J17/00; B25J17/02; B25J17/0241; B25J17/025; B25J19/00; B25J19/0008; B25J19/0016; B25J19/0091; B25J9/00; B25J9/06; G; G01; G01B; G01B11/00; G01B11/002; G01B11/005; G01B11/24; G01B11/25; G01B21/00; G01B21/02; G01B21/04; G01B21/045; G01B5/00; G01B5/004; G01B5/008
Claims Analysis
Total Claims: 70
Claim 1
Independent Claim
141 words
A method for providing feedback to the operator of a portable coordinate measurement machine (CMM) which measures the position of an object in a selected volume, the CMM including a manually positionable articulated arm having opposed first and second ends, said arm including a plurality of joints, a measurement probe attached to a first end of said articulated arm and an electronic circuit which receives the position signals from transducers in said arm and which provides a digital coordinate corresponding to the position of the probe in a selected volume, comprising: sensing deformation of a portion of said articulated arm when said arm is placed under a load, said deformation being an indication of the magnitude of the external force being applied to such arm; and providing feedback to the operator of the CMM in response to said sensed external force.
Claim 2
Independent Claim
141 words
A method for providing feedback to the operator of a portable coordinate measurement machine (CMM) which measures the position of an object in a selected volume, the CMM including a manually positionable articulated arm having opposed first and second ends, said arm including a plurality of joints, a measurement probe attached to a first end of said articulated arm and an electronic circuit which receives the position signals from transducers in said arm and which provides a digital coordinate corresponding to the position of the probe in a selected volume, comprising: sensing deformation of a portion of said articulated arm when said arm is placed under a load, said deformation being an indication of the magnitude of the external force being applied to such arm; and providing feedback to the operator of the CMM in response to said sensed external force.
Claim 3
Dependent Claim
11 words
The method of claim 1 wherein said feedback comprises sensory feedback.
Claim 4
Dependent Claim
18 words
The method of claim 2 wherein said sensory feedback comprises at least one of auditory and visual feedback.
Claim 5
Dependent Claim
15 words
The method of claim 1 wherein said feedback is indicated by software controlling the CMM.
Claim 6
Dependent Claim
19 words
The method of claim 1 wherein said feedback defines an overload sensor which prevents overstressing of the articulated arm.
Claim 7
Dependent Claim
20 words
The method of claim 1 wherein said deformation occurs in bearing structure associated with at least one of said joints.
Claim 8
Dependent Claim
16 words
The method of claim 1 wherein said deformation occurs in tubing associated with said articulated arm.
Claim 9
Dependent Claim
74 words
The method of claim 1 wherein said at least one of said joints includes a periodic pattern of a measurable characteristic, at least two read heads spaced from and in communication with said pattern, said pattern and said at least two read heads being positioned within said joint so as to be rotatable with respect to each other, and including: using said at least two read heads to sense deformation of the articulated arm.
Claim 10
Dependent Claim
15 words
The method of claim 8 wherein said two read heads are positioned 180 degrees apart.
Claim 11
Dependent Claim
25 words
The method of claim 8 wherein: said pattern comprises an optical fringe pattern; and said at least one read head comprises an optical read head.
Claim 12
Dependent Claim
17 words
The method of claim 10 wherein: said optical fringe pattern is disposed on an optical encoder disk.
Claim 13
Dependent Claim
40 words
The method of claim 11 wherein said communication comprises: said read head detecting the interference between diffraction orders to produce sinusoidal signals from said read head inserted in said fringe pattern, said sinusoidal signals being electronically interpolated to detect displacement.
Claim 14
Dependent Claim
19 words
The method of claim 8 wherein said at least two read heads cause cancellation effects that can be averaged.
Claim 15
Dependent Claim
34 words
The method of claim 8 wherein: said pattern of a measurable characteristic is at least one of the characteristics selected from the group consisting of reflectivity, opacity, magnetic field, capacitance, inductance and surface roughness.
Claim 16
Dependent Claim
31 words
The method of claim 8 wherein: said pattern is rotatable with respect to said at least two read heads; and said two read heads are stationary with respect to said pattern.
Claim 17
Dependent Claim
33 words
The method of claim 8 wherein: said pattern is stationary with respect to said at least two read heads; and said at least two reads heads are rotatable with respect to said pattern.
Claim 18
Dependent Claim
94 words
The method of claim 8 wherein said joint further comprises: a first and second housing, and a rotatable shaft extending from said second housing into said first housing; a bearing disposed between said shaft and said first housing permitting said rotatable shaft to rotate within said first housing; said pattern being attached to said rotatable shaft; said at least two read heads being fixed within said first housing such that rotation of the first housing with respect to the second housing causes said at least two read heads to move relative to said pattern.
Claim 19
Dependent Claim
90 words
The method of claim 8 wherein said at least one joint comprises: a first housing; a second housing; a rotatable shaft fixed to said second housing and extending into said first housing; at least one bearing supported within said first housing and supporting said rotatable shaft for rotation about its axis; wherein one of said pattern and said at least two read heads are fixed to an end of said shaft and the other of said pattern and said at least two read heads are fixed within said first housing.
Claim 20
Dependent Claim
26 words
The method of claim 8 wherein said arm includes at least five rotary joints such that said articulated arm has at least five degrees of freedom.
Claim 21
Dependent Claim
22 words
The method of claim 19 wherein said at least one of said rotary joints comprises at least two of said rotary joints.
Claim 22
Dependent Claim
22 words
The method of claim 19 wherein said at least one of said rotary joints comprises at least three of said rotary joints.
Claim 23
Dependent Claim
22 words
The method of claim 19 wherein said at least one of said rotary joints comprises at least four of said rotary joints.
Claim 24
Dependent Claim
22 words
The method of claim 19 wherein said at least one of said rotary joints comprises at least five of said rotary joints.
Claim 25
Dependent Claim
39 words
The method of claim 19 including at least six rotary joints such that said articulated arm has at least six degrees of freedom and wherein said at least one of said rotary joints comprises at least six rotary joints.
Claim 26
Dependent Claim
39 words
The method of claim 19 including at least seven rotary joints such that said articulated arm has at least seven degrees of freedom and wherein said at least one of said rotary joints comprises at least seven rotary joints.
Claim 27
Dependent Claim
20 words
The method of claim 19 wherein said at least one of said rotary joints comprises all of said rotary joints.
Claim 28
Dependent Claim
22 words
The method of claim 8 wherein said at least one of said rotary joints comprises at least two of said rotary joints.
Claim 29
Dependent Claim
22 words
The method of claim 8 wherein said at least one of said rotary joints comprises at least three of said rotary joints.
Claim 30
Dependent Claim
22 words
The method of claim 8 wherein said at least one of said rotary joints comprises at least four of said rotary joints.
Claim 31
Dependent Claim
22 words
The method of claim 8 wherein said at least one of said rotary joints comprises at least five of said rotary joints.
Claim 32
Dependent Claim
39 words
The method of claim 8 including at least six rotary joints such that said articulated arm has at least six degrees of freedom and wherein said at least one of said rotary joints comprises at least six rotary joints.
Claim 33
Dependent Claim
39 words
The method of claim 8 including at least seven rotary joints such that said articulated arm has at least seven degrees of freedom and wherein said at least one of said rotary joints comprises at least seven rotary joints.
Claim 34
Dependent Claim
20 words
The method of claim 8 wherein said at least one of said rotary joints comprises all of said rotary joints.
Claim 35
Dependent Claim
20 words
The method of claim 1 wherein said joints comprise long joints for swiveling motion and short joints for hinged motion.
Claim 36
Dependent Claim
20 words
The method of claim 34 including three joint pairs, each joint pair comprising a long joint and a short joint.
Claim 37
Dependent Claim
25 words
The method of claim 1 wherein said joints are arranged in the joint configurations selected from the group consisting of 2-2-2, 2-1-2, 2-2-3, and 2-1-3.
Claim 38
Dependent Claim
92 words
The method of claim 1 wherein said at least one of said joints includes a periodic pattern of a measurable characteristic, at least one read head spaced from and in communication with said pattern, said pattern and said read head being positioned within said joint so as to be rotatable with respect to each other, and at least one sensor which measures relative movement in said periodic pattern with respect to said at least one read head and including: using said at least one sensor to sense deformation of the articulated arm.
Claim 39
Dependent Claim
20 words
The method of claim 37 wherein said at least one sensor comprises a plurality of spaced sensors which measure displacement.
Claim 40
Dependent Claim
17 words
The method of claim 37 wherein said at least one sensor comprises a sensor which measures displacement.
Claim 41
Dependent Claim
17 words
The method of claim 39 including at least one sensor for measuring X-axis displacement of said pattern.
Claim 42
Dependent Claim
17 words
The method of claim 40 including at least one sensor for measuring Y-axis displacement of said pattern.
Claim 43
Dependent Claim
17 words
The method of claim 39 including at least one sensor for measuring Y-axis displacement of said pattern.
Claim 44
Dependent Claim
57 words
The method of claim 37 wherein said at least one joint includes a shaft surrounded, at least in part, by a housing, said shaft and said housing being adapted to rotate relative to one another, and wherein said at least one sensor includes at least one sensor for measuring relative movement between said shaft and said housing.
Claim 45
Dependent Claim
20 words
The method of claim 43 including a plurality of sensors for measuring relative movement between said shaft and said housing.
Claim 46
Dependent Claim
10 words
The method of claim 44 wherein said shaft is rotatable.
Claim 47
Dependent Claim
41 words
The method of claim 45 wherein said at least one sensor includes: at least two sensors for measuring relative movement of said shaft including a first sensor for measuring X axis displacement and a second sensor for measuring Y axis displacement.
Claim 48
Dependent Claim
44 words
The method of claim 46 wherein said plurality of sensors for measuring relative movement of said shaft further include a third sensor for measuring X axis rotation, a fourth sensor for measuring Y axis rotation and a fifth sensor for measuring Z axis displacement.
Claim 49
Dependent Claim
23 words
The method of claim 47 wherein said third, fourth and fifth sensors are positioned at about 120 degrees with respect to each other.
Claim 50
Dependent Claim
19 words
The method of claim 46 wherein said at least one read head measures Z axis rotation of said shaft.
Claim 51
Dependent Claim
19 words
The method of claim 49 wherein said at least one read head measures Z axis rotation of said shaft.
Claim 52
Dependent Claim
10 words
The method of claim 43 wherein said shaft is rotatable.
Claim 53
Dependent Claim
26 words
The method of claim 43 including at least five sensors which, together with said read head, measure at least six degrees of freedom of said shaft.
Claim 54
Dependent Claim
32 words
The method of claim 37 wherein said at least one sensor includes: at least two sensors which measure movement in said periodic pattern with respect to said at least one read head.
Claim 55
Dependent Claim
20 words
The method of claim 53 wherein: said at least two sensors are positioned at about 90 degrees to each other.
Claim 56
Dependent Claim
26 words
The method of claim 37 wherein said arm includes at least five rotary joints such that said articulated arm has at least five degrees of freedom.
Claim 57
Dependent Claim
22 words
The method of claim 55 wherein said at least one of said rotary joints comprises at least two of said rotary joints.
Claim 58
Dependent Claim
22 words
The method of claim 55 wherein said at least one of said rotary joints comprises at least three of said rotary joints.
Claim 59
Dependent Claim
22 words
The method of claim 55 wherein said at least one of said rotary joints comprises at least four of said rotary joints.
Claim 60
Dependent Claim
22 words
The method of claim 55 wherein said at least one of said rotary joints comprises at least five of said rotary joints.
Claim 61
Dependent Claim
39 words
The method of claim 55 including at least six rotary joints such that said articulated arm has at least six degrees of freedom and wherein said at least one of said rotary joints comprises at least six rotary joints.
Claim 62
Dependent Claim
39 words
The method of claim 55 including at least seven rotary joints such that said articulated arm has at least seven degrees of freedom and wherein said at least one of said rotary joints comprises at least seven rotary joints.
Claim 63
Dependent Claim
20 words
The method of claim 55 wherein said at least one of said rotary joints comprises all of said rotary joints.
Claim 64
Dependent Claim
22 words
The method of claim 37 wherein said at least one of said rotary joints comprises at least two of said rotary joints.
Claim 65
Dependent Claim
22 words
The method of claim 37 wherein said at least one of said rotary joints comprises at least three of said rotary joints.
Claim 66
Dependent Claim
22 words
The method of claim 37 wherein said at least one of said rotary joints comprises at least four of said rotary joints.
Claim 67
Dependent Claim
22 words
The method of claim 37 wherein said at least one of said rotary joints comprises at least five of said rotary joints.
Claim 68
Dependent Claim
39 words
The method of claim 37 including at least six rotary joints such that said articulated arm has at least six degrees of freedom and wherein said at least one of said rotary joints comprises at least seven rotary joints.
Claim 69
Dependent Claim
39 words
The method of claim 37 including at least seven rotary joints such that said articulated arm has at least seven degrees of freedom and wherein said at least one of said rotary joints comprises at least seven rotary joints.
Claim 70
Dependent Claim
20 words
The method of claim 37 wherein said at least one of said rotary joints comprises all of said rotary joints.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2008-12-12 | 2009-06-13 | 2009-12-13 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2012-12-12 | 2013-06-13 | 2013-12-13 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2016-12-12 | 2017-06-13 | 2017-12-13 | $7700.00 | Window Closed / Lapsed |