C frame structure configured to provide deflection compensation and associated method

Patent metadata

Field	Value
Publication number	US-8935949-B2
Application number	US-201213647823-A
Country	US
Kind code	B2
Filing date	Oct 9, 2012
Priority date	Oct 9, 2012
Publication date	Jan 20, 2015
Grant date	Jan 20, 2015

Abstract

A C frame structure, a robotic system and an associated method are provided respond to and accommodate the loads placed upon the C frame structure during actuation of a working tool. The C frame structure includes a plurality of links and a plurality of pins interconnecting the links to form a pinned truss configuration. The pinned truss configuration is responsive to loads imparted in response to actuation of the tool such that each link is placed in compression or tension. The C frame structure also includes a plurality of hydraulic cylinders connected to the links such that each hydraulic cylinder extends in parallel to a respective link. A first hydraulic cylinder operates in a compression mode in response to strain attributable to actuation of the tool. A second hydraulic cylinder operates in an extension mode in response to the first hydraulic cylinder operating in the compression mode.

First claim

What is claimed is:

1. A C frame structure for carrying a tool, the C frame structure comprising:
a plurality of links;
a plurality of pins interconnecting the links to form a C-shaped pinned truss configuration including first and second jaw members that each extend from a proximal end to a distal end and that cooperate to define an opening configured to receive a workpiece, wherein the plurality of links comprise a first set of links including first links interconnected by pin…

Assignees

• Boeing Co

Inventors

• Batt Edward John

Classifications

• B30B15/047

  Operations & Transport · mapped topic

• B30B15/044

  Operations & Transport · mapped topic

• B21J15/10 Primary

  Operations & Transport · mapped topic