US20090243532A1 - Vehicle having an articulator - Google Patents

Abstract

Systems and methods for a vehicle mounted articulator are described. A vehicle conveniently allows an articulator to be moved to various remote work sites. In one embodiment, the articulator can be mounted on a movable base, thereby increasing the flexibility of use and/or reach of the articulator. Such vehicle-mounted articulators can be subjected to various potentially damaging situations due to motion of the vehicle. Various features that allow safe operation of the vehicle and the articulator are disclosed.

Description

PRIORITY CLAIM
• This application is a continuation of U.S. application Ser. No. 11/531,556 filed Sep. 13, 2006 entitled “VEHICLE HAVING AN ARTICULATOR”, which claims priority benefit of U.S. Provisional Patent Application No. 60/716,819 filed Sep. 13, 2005, titled “Vehicle Having an Articulator,” which are both incorporated herein by reference in their entireties.
BACKGROUND
• 1. Field
• The present disclosure generally relates to articulated arm coordinate measuring machines, and in particular, to systems and methods for mounting an articulated arm to a mobile platform.
• 2. Description of the Related Art
• A typical coordinate measuring machine (CMM) has an articulating arm that allows positioning of a probe and/or a detector at different points in space. For example, probe can be positioned at various points on a surface of an object, and spatial positions of the probe (and thus the surface of the object) can be determined via the articulating arm's configuration. In another example, a detector on the articulating arm can be used to characterize surface features of an object by projecting and detecting a signal such as light.
• Because articulating arms and the end attachments are precision instruments, they are preferably mounted to a substantially stable platform and operated in controlled environment, such that measurements thus obtained are precise. In many situations, this means that objects being measured need to be brought to the articulator/platform assembly. In some situations, however, moving the objects to the articulator may not be practical or desirable.
SUMMARY
• At least some of the foregoing needs can be addressed by systems and methods for a vehicle mounted articulator. A vehicle conveniently allows an articulator to be moved to various remote work sites. In one embodiment, the articulator can be mounted on a movable base, thereby increasing the flexibility of use and/or reach of the articulator. Such vehicle-mounted articulators can be subjected to various potentially damaging situations due to motion of the vehicle. Various features that allow safe operation of the vehicle and the articulator are disclosed.
• One embodiment of the present disclosure relates to a vehicle that includes a movement mechanism configured to facilitate movement of the vehicle. The vehicle further includes a body coupled to the movement mechanism. The vehicle further includes an articulator mounted to the body so as to allow operation of the articulator from the vehicle.
• In one embodiment, the vehicle further includes a substantially self-contained drive system that allows a human operator to drive the vehicle to different locations. In one embodiment, the drive system includes an electrical motor that is powered by one or more on-board batteries. In one embodiment, the one or more on-board batteries also power operation of the articulator.
• In one embodiment, the vehicle includes a plurality of wheels to facilitate the movement, with at least one of the plurality of wheels being steerable by the operator.
• In one embodiment, the vehicle further includes a plurality of retractable stabilizers, with each capable of being in retracted and deployed positions. The stabilizers are in retracted positions when the vehicle is moving, and in deployed positions when the vehicle is stationary for operation of the articulator.
• In one embodiment, the articulator is coupled to the body via a platform, with the articulator being mounted to the platform and the platform being coupled to the body. In one embodiment, the vehicle further includes a platform movement mechanism configured to allow movement of the platform with respect to the frame to increase the range of motion of the articulator during its operation.
• In one embodiment, the platform is movable in a translational manner. In one embodiment, the platform movement mechanism includes a mounting plate coupled to one or more rails that provide guidance for a substantially linear motion of the mounting plate relative to the frame. The mounting plate is configured to allow mounting of the articulator thereon. In one embodiment, the translational motion includes a motion of the platform along a longitudinal direction defined by front and rear of the vehicle. In one embodiment, the translational motion includes a motion of the platform along a direction having a vertical component.
• In one embodiment, the platform is movable in a rotational manner with respect to the frame.
• In one embodiment, the articulator includes a distal end for mounting of an end assembly. In one embodiment, the frame defines an opening that receives at least a portion of the end assembly to provide protection for the end assembly. In one embodiment, the opening is dimensioned so as to allow substantially all of the end assembly to be within a volume defined by the frame. In one embodiment, the vehicle further includes a latching mechanism that secures the distal end or the end assembly to the frame when the articulator is not in use or when the vehicle is in motion.
• In one embodiment, the vehicle further includes an interlock system that inhibits or restricts operation of the articulator under one or more selected conditions. In one embodiment, the interlock system disables movement of the vehicle when the articulator is in its deployed configuration. In one embodiment, the interlock system allows only a limited movement of the articulator transitions between its deployed configuration and secured configuration. In one embodiment, the limited movement includes limited speed and direction of the movement to reduce the likelihood of damage to the articulator during transition between the deployed and secured configurations. In one embodiment, the vehicle further includes an override mechanism that allows overriding of at least one of inhibiting or restricting functionality of the interlock system.
• In one embodiment, the articulator includes a plurality of arm sections. The movement of each arm section being effectuated by drive cables driven by motors that are positioned proximately to the location where the articulator is mounted to the body, thereby reducing the moment of inertia of the articulator about the mounting location.
• Another embodiment of the present disclosure relates to a method for operating articulators. The method includes providing a movement mechanism to a vehicle so as to facilitate movement of the vehicle. The method further includes mounting an articulator on the vehicle such that the articulator can be operated at different locations reachable by movements of the vehicle.
• In one embodiment, the movement mechanism includes a substantially self-contained drive system that allows a human operator to drive the vehicle to different locations.
• In one embodiment, the method further includes providing a plurality of retractable stabilizers, with each capable of being in retracted and deployed positions. The stabilizers are in retracted positions when the vehicle is moving, and in deployed positions when the vehicle is stationary for operation of the articulator.
• In one embodiment, the mounting of the articulator to the vehicle includes mounting the articulator to a platform that is movable relative to the vehicle.
• In one embodiment, the platform is movable in a translational manner. In one embodiment, the translational motion includes a motion of the platform along a longitudinal direction defined by front and rear of the vehicle. In one embodiment, the translational motion includes a motion of the platform along a direction having a vertical component.
• In one embodiment, the platform is movable in a rotational manner with respect to the frame.
• In one embodiment, the method further includes providing a securing assembly that secures the articulator at or near its distal end to reduce likelihood of damage to the articulator during motion of the vehicle.
• In one embodiment, the method further includes providing an interlock system that inhibits or restricts operation of the articulator under one or more selected conditions. In one embodiment, the interlock system disables movement of the vehicle when the articulator is in its deployed configuration. In one embodiment, the interlock system allows only a limited movement of the articulator transitions between its deployed configuration and secured configuration. In one embodiment, the limited movement includes limited speed and direction of the movement to reduce the likelihood of damage to the articulator during transition between the deployed and secured configurations. In one embodiment, the method further includes providing an override mechanism that allows overriding of at least one of inhibiting or restricting functionality of the interlock system.
• Yet another embodiment of the present disclosure relates to an apparatus that includes a means for providing a movable vehicle, and a means for providing an articulator to the vehicle.
BRIEF DESCRIPTION OF THE DRAWINGS
• FIGS. 1A and 1B show perspective views of one embodiment of a vehicle having an articulator;
• FIG. 2A shows that in one embodiment, the vehicle can include a deployable stabilizer jack system such that when the vehicle is in motion or needs to move, the jacks can be retracted;
• FIG. 2B shows that the jacks can be extended to engage a supporting surface and stabilize the stationary vehicle so as to provide a substantially stable platform for the operation of the articulator;
• FIG. 2C shows that in one embodiment, the stabilizer jacks can be adjusted to accommodate uneven features on the supporting surface;
• FIG. 3 shows a schematic diagram of one of the many possible arrangements of the stabilizer jacks;
• FIG. 4 shows one embodiment of the articulator deployed from the vehicle and ready to perform various operations;
• FIG. 5 shows that in one embodiment, the articulator can be mounted on a slidable platform so as to provide flexibility in the manner in which the articulator can be utilized;
• FIG. 6 shows that in one embodiment, the articulator can be mounted on a raisable platform so as to provide flexibility in the manner in which the articulator can be utilized;
• FIGS. 7A-7C show that in one embodiment, the vehicle can include an interlock system that secures and protects the articulator's end attachment when the articulator is not in use;
• FIG. 8 shows a block diagram of one embodiment of the interlock system;
• FIG. 9 shows one embodiment of an interlock process that can be implemented by the interlock system;
• FIG. 10 shows another embodiment of an interlock process that can be implemented by the interlock system;
• FIG. 11 shows that in one embodiment, the vehicle can include a control system and/or a power supply system that facilitate(s) the operation of the vehicle and/or the articulator;
• FIG. 12 shows a block diagram of one embodiment of the control system;
• FIG. 13 shows a block diagram of one embodiment of the control system;
• FIG. 14 shows one embodiment of an actuator system that allows various movements of the articulator;
• FIG. 15 shows an isolated view of one embodiment of a slidable platform assembly that facilitates a sliding motion of the articulator; and
• FIGS. 16A and 16B show isolated top and bottom views of one embodiment of a nest assembly that is configured to receive and secure the end assembly of the articulator.
• These and other aspects, advantages, and novel features of the present disclosure will become apparent upon reading the following detailed description and upon reference to the accompanying drawings. In the drawings, similar elements have similar reference numerals.
DETAILED DESCRIPTION OF SOME EMBODIMENTS
• FIGS. 1A and 1B show perspective views of one embodiment of avehicle100 having anarticulator102. In one embodiment, thevehicle100 can be configured to be operated by an operator (not shown). For example, vehicle controlling devices such as asteering device300 can be provided to allow maneuvering of thevehicle100 to a desired location. Also, an example provisions such as abackrest302 can provide a convenient and safety feature for the operator.
• In one embodiment, thevehicle100 has thearticulator102 mounted on it, so that thearticulator102 can be moved to the desired location via thevehicle100. Various features of thevehicle100,articulator102, and/or other components that facilitate the operation of the vehicle and the articulator are described below in greater detail.
• In general, although various embodiments of thevehicle100 is described herein as being a powered vehicle, some of the features of the present disclosure do not necessarily require a powered vehicle.
• In one embodiment, thevehicle100 can include a movement mechanism that facilitates movement of the vehicle. Such movement mechanism can include, by way of examples, a drive mechanism that can provide power to a plurality of wheels. Such drive mechanism and/or wheels can be coupled to a body of the vehicle. For the purpose of description herein, the body of the vehicle can include a frame, a chassis, panels, any structural member, and/or any combination thereof, of the vehicle.
• FIGS. 2-3 generally show that in one embodiment, thevehicle100 can include a stabilizer system that facilitates a substantially stable platform for the articulator when thevehicle100 is stationary. As shown in one embodiment, as shown inFIG. 2A, one embodiment of thevehicle100 can include a plurality ofwheels104 that allows rolling motion of thevehicle100 on a supportingsurface106. In one embodiment, each of thewheels104 includes a pneumatic tire that provides cushioning effect as thevehicle100 moves over thesurface106.
• In one embodiment, thevehicle100 may include some form of suspension device and/or leveling device. The suspension can facilitate a smoother motion of thevehicle100 in motion, and also reduce the amount of motion-related forces on thearticulator102. The leveling device can facilitate positioning the attitude of the vehicle so as to provide a generally level platform for the operation of the articulator102 (although levelness of the platform is not necessarily a requirement).
• While theexample tires104 may provide cushioned ride for the articulator, they may not provide a sufficiently rigid and stable coupling between thesurface106 and aplatform310 to which the articulator is mounted to. Thus in one embodiment, thevehicle100 can include a plurality ofdeployable jacks108 that can be retracted when the vehicle is in motion, and deployed when the articulator is to be operated.FIG. 2A shows the example jacks108 in their retracted configuration such that thevehicle100 can move over thesurface106 via the rolling motion of thewheels104.
• FIG. 2B shows the example jacks108 in their deployed configuration such that thevehicle100 is stabilized for the operation of thearticulator102. Thejacks108 are shown to engage thesurface106 so as to provide a sufficiently rigid and stable coupling between thesurface106 and theplatform310 for thearticulator102.FIG. 2C shows that in one embodiment, the example jacks108 can be deployed so as to accommodate various irregular features (such as an example bump110) on thesurface106.
• As one can appreciate, the wheels and/or the stabilizer jacks described above can be configured in any number of ways.FIG. 3 shows one example wheel configuration for thevehicle100, where thewheels104 can be arranged in an example tricycle configuration. A front wheel assembly is depicted as including one or morefront wheels104a,and rear wheel assemblies are depicted as includingrear wheels104b.As is generally known, such tricycle configuration can provide a stable support for thevehicle100 and an easy implementation of steering of the front wheel assembly in a known manner.
• In one embodiment as shown inFIG. 3, the stabilizer jacks108 can also be arranged in a generally triangular pattern. Thus, front jack assembly adjacent the front wheel assembly is shown to include one ormore jacks108a.Similarly,rear jacks108bare shown to be positioned adjacent therear wheels104b.
• The stabilizer jacks described in the example embodiments herein can be deployed via any number of mechanisms. For example, the jacks can be actuated manually, electrically, mechanically, hydraulically, any combination thereof, or via any other mechanism. In one embodiment, thejacks108 are deployed and retracted using hydraulics. When deployed for articulator operation, the jacks extend fully to form “metal-to-metal” coupling, thereby providing a substantially stable coupling between the supportingsurface106 and theplatform310 for thearticulator102.
• FIG. 4 shows a side view of one embodiment of thevehicle100 with one embodiment of thearticulator102 deployed. Such a configuration can allow operation of thearticulator102 so as to provide movements and spatial measurements for anend assembly112. Theend assembly112 can include devices such as a CMM probe, a detector assembly, or any devices that are or can be used in conjunction with articulating arms. One can see fromFIG. 4 that thevehicle100 allows transport of thearticulator102 to a work site, and also provides a substantially stable platform for the operation of thearticulator102.
• As shown in the example configuration inFIG. 4, thearticulator102 is shown to be positioned to allow relatively easy accessing of work surfaces (not shown) located at either lateral sides or above thevehicle100. Because the base of thearticulator102 is positioned near the rear of the vehicle, however, thearticulator102 may have difficulty in positioning theend assembly112 at locations in front of thevehicle100.
• FIG. 5 shows that in one embodiment, thevehicle100 can be configured so that thebase114 of thearticulator102 can be mounted on amovable platform322 that allows an example longitudinal (front/rear) motion of thearticulator102 as a whole with respect to astationary platform116 of thevehicle100. The longitudinal motion is depicted as anarrow320. In one embodiment, themovable platform322 can be driven by any number of ways, including but not limited to, chain drive, belt drive, screw drive, rack and pinion drive, and the like. In one embodiment, the movable platform moves along linear rails that extend longitudinally, and has a total travel of approximately 1.5 m. This example dimension of course depends on the example vehicle. Travel dimensions larger or smaller than this example dimension are also possible.
• FIG. 6 shows that in one embodiment, thevehicle100 can be configured so that thebase114 of thearticulator102 can be mounted on amovable platform118 that allows an example vertical motion of thearticulator102 as a whole with respect to thestationary platform116 of thevehicle100. The vertical motion of themovable platform118 is depicted as anarrow324, and can be achieved byvertical movement members120. Thevertical movement members120 can include any number of known mechanisms such as manual, electrical, mechanical, hydraulic, and the like.
• It will be understood that the movable platforms depicted inFIGS. 5 and 6 are examples only. The vehicle does not need to have a movable platform. On the other hand, other types of movable platforms (for example, tilting, or rotating platforms) can be implemented. Furthermore, in one embodiment, a given movable platform can be configured to allow more than one type of motion relative to the stationary platform. For example, a linear rail system could be mounted on a vertically movable platform, thereby allowing both longitudinal and vertical movements of the articulator as a whole.
• Articulators and various end attachments are typically precision instruments in general. Accordingly, they should preferably be treated as such. One of the consequences of having an articulator mounted on a vehicle is that the articulator moves along with the vehicle. Thus, it may be preferable to secure the articulator when the vehicle is moving, so as to prevent the articulator from swinging around uncontrollably and increasing the likelihood of damage.FIGS. 7-10 show various embodiments of an articulator interlock system that can facilitate such securing and operation of the articulator.
• FIGS. 7A-7C show one embodiment of an articulator securing system, with thearticulator102 in various stages of deployment. InFIG. 7A, theexample articulator102 is shown to be in a secure configuration, where theend assembly112 is positioned in a receivingspace122 defined in thevehicle100. Although the receivingspace122 is depicted as defined volume, it does not necessarily mean that such walls or enclosure are needed. There may or may not be such defined enclosure structure. Thus for the purpose of description, it will be understood that the receivingspace122 simply represents a volume (enclosed, partially enclosed, or not enclosed) that is dimensioned to allow receiving of theend assembly112.
• The articulator's end adjacent theend assembly112 is shown to be secured to thevehicle100 via a latchingassembly124. In such a configuration, thearticulator102 is secured to thevehicle100 at the base (114 inFIG. 5, for example), and also at the other end (via the latching assembly124), thereby securing thearticulator102 at two locations. In such a secure configuration, thearticulator102 is less likely to sway or swing when thevehicle100 moves, thereby reducing the likelihood of damage to various parts of thearticulator102.
• InFIG. 7B, thearticulator102 is shown to begin its deployment motion. In one embodiment, such deployment motion can be allowed after the latchingassembly124 releases the end of thearticulator102. As shown, the initial deployment motion is shown to be along a direction having a component along thevertical direction126. This is because the example articulator's distal section is in the vertical orientation when secured. In general, other configurations are possible. For example is theend assembly112 and the distal section are secured in an angled orientation, then the initial deployment motion can be along that angled direction.
• In one embodiment, lateral motion (in and out of the plane of paper) of thearticulator102 is not permitted when theend assembly112 has not cleared the receivingspace122. Such restriction on the initial deployment movement inhibits theend assembly112 from bumping into the walls or edges of the receivingspace122, again reducing the likelihood of damage to theend assembly112 and possibly thearticulator102.
• InFIG. 7C, thearticulator102 is shown to have been deployed where theend assembly112 has cleared the receivingspace122. Once deployed, the articulator can undergo measurement operations.
• FIG. 8 shows a block diagram of one embodiment of thevehicle100 having aninterlock component130 that can be configured to facilitate safe operation of thevehicle100 and/or thearticulator102. Theinterlock component130 can include acomponent132 that is configured to sense the orientation of the articulator, anarticulator securing component134, analarm component136, anarticulator movement component138, avehicle movement component140, and anoverride component142.
• In one embodiment, the articulatororientation sensor component132 can be configured to determine the position of the end assembly. Because the operation of the articulator generally relies on knowing where the end assembly is, such position information can be readily obtained in a known manner.
• In one embodiment, thearticulator securing component134 can include the latchingassembly124 described above in reference toFIGS. 7A-7C. The latching assembly can include any type of known mechanism that releasably secures one part to another. The securingcomponent134 can also include an actuating component that releases or secures upon some triggering condition. The securingcomponent134 can also include a component that senses the state of the latching assembly (i.e., whether or not the articulator is secured by the latching assembly).
• In one embodiment, thealarm component136 can be configured to be triggered when certain conditions are met. An example of how thealarm136 can be utilized in theinterlock component130 is described below in greater detail.
• In one embodiment,articulator movement component138 can include components that facilitate various movements of the articulator. For example, power supply, servo motor assembly, control system, and the like, can be considered to be part of thearticulator movement component138 for the purpose of describing the example interlock system.
• In one embodiment, thevehicle movement component140 can include components that facilitate various movements of the vehicle. For example, drive system, vehicle control system, and the like, can be considered to be part of thevehicle movement component138 for the purpose of describing the example interlock system.
• In one embodiment, theoverride component142 can be configured to allow overriding of certain states of the interlock system. An example of how theoverride component142 can be utilized in theinterlock component130 is described below in greater detail.
• FIG. 9 shows one embodiment of anexample process150 that can be performed by the interlock system130 (FIG. 8) to generally inhibit vehicle movement when the articulator is not secured properly. For the purpose of describing theprocess150, it will be assumed that the state (orientation, for example) of the articulator is known.
• In adecision block152, theprocess150 determines whether the articulator is secured. If the answer is “Yes,” theprocess150 in aprocess block154 allows movement of the vehicle. If the answer is “No,” theprocess150 then determines in a decision whether an interlock override has been activated. Such an override may be activated by, for example, a simple switch, key switch, code entry, and the like. The override feature may be useful in situations when the vehicle needs to be moved with the articulator in its deployed configuration. In some embodiments, the override feature may not exist, or be optional. In some embodiments, if the vehicle needs to be moved via the override (articulator deployed), allowed vehicle movements may be limited. For example, the maximum speed of the vehicle may be limited at a value lower than the normal operating speed.
• If the answer in thedecision block156 is “Yes,” theprocess150 in aprocess block158 allows movement of the vehicle. If the answer is “No,” theprocess150 in aprocess block160 does not allow movement of the vehicle. As further shown inFIG. 9, theprocess150 can also activate an alarm in aprocess block162. Such an alarm can indicate that the vehicle is attempting to be moved with the articulator unsecured.
• FIG. 10 shows one embodiment of anexample process170 that can be performed by the interlock system130 (FIG. 8) to facilitate safe deployment of the articulator. For the purpose of describing theprocess170, it will be assumed that the articulator is initially in its secured configuration. In adecision block172, theprocess170 determines whether to allow unsecuring of the articulator. Such determination can be made by considering, for example, whether the vehicle is stationary and stabilized. If the answer in thedecision block172 is “No,” theprocess170 in aprocess block174 disables the articulator movement and/or maintains such a disabled configuration. In one embodiment, theprocess block174 maintains such a configuration until a condition for allowing the unsecuring of the articulator is met.
• If the answer in thedecision block172 is “Yes,” theprocess170 in aprocess block176 allows a limited deployment movement of the articulator. Such limited deployment movement can include, for example, the vertical movement (and no lateral movement) of theend assembly112 described above in reference toFIG. 7B.
• As the articulator undergoes the limited deployment movement, theprocess170 in adecision block178 determines whether the end assembly has cleared the receiving space. If the answer in “No,” theprocess170 disables the operational movement of the articulator and maintains the limited deployment movement in aprocess block180. If the answer is “Yes,” theprocess170 in aprocess block182 allows the operational movement of the articulator.
• FIG. 11 shows a partial cutaway view of one embodiment of thevehicle100 having acontrol component190 and apower component200. In one embodiment, either or both of these components can be configured to facilitate the operation of thearticulator102.
• As shown inFIG. 12, one embodiment of thecontrol component190 can include functional components such as an articulatoroperation control component192, auser interface component194, and aninterlock control component196. The articulatoroperation control component192 can be configured to perform, for example, various measurement functions of the articulator. Theuser interface component194, such as a display screen and an input device, can be configured to facilitate interaction of thecontrol component190 with the user. Theinterlock component196 can be configured to perform, for example, various interlock functions described above in reference toFIGS. 8-10.
• As shown inFIG. 13, one embodiment of thepower component200 can include components such as one ormore batteries212, and a charger/adaptor component204. In one embodiment, thebatteries212 can power both the vehicle and the articulator. In one embodiment, thebatteries212 can allow a 36-volt DC operation of the articulator. In one embodiment, thebatteries212 can be charged via thecharging component204. In one embodiment, thecharging component204 can also provide a functionality of a power adaptor, so that thearticulator102 can be operated by power from an external source while the batteries are being charged.
• In one embodiment, various articulators that can be mounted on the vehicle, and operated therefrom, can include manually-operated arms, power-operated arms, or any combinations thereof Also, such vehicle mountable articulators can be used for, but not limited to, coordinate measuring devices, scanning devices, and the like.
• FIG. 14 shows one example embodiment of thearticulator102 configured for powered operation. Theexample articulator102 is also shown to have relatively heavier components positioned close to the base114 so as to reduce the moment of inertia of the articulator (with respect to the mounting location on the base114). Such reduction in moment of inertia can increase the rate of various motions of thearticulator102, as well as the general stability of thearticulator102.
• The relatively heavier components can include various servo drive motors. In theexample articulator102, these motor assemblies are depicted as234,212,216,222, and228. Theexample motor assembly234 is shown to be coupled to amovement mechanism236 that facilitates rotation of afirst arm section240 with respect to thebase114. Theexample motor assembly212 is shown to be coupled to amovement mechanism214 that facilitates rotation of asecond arm section242 with respect to thefirst section240. In one embodiment, themotor assemblies234 and212 are directly coupled to theirrespective movement mechanisms236 and214, since these motor locations are relatively close to thebase114 of the articulator.
• Amovement mechanism218 that facilitates rotation of athird arm section244 with respect to thesecond arm section242 is shown to be located relatively far from thebase114. Hence in one embodiment, theexample motor assembly216 is shown to be positioned at the proximal end of thesecond arm section242 to drive themovement mechanism218 positioned at the distal end of thesecond arm section242. In one embodiment,flexible drive cables220 provide the coupling between themotor assembly216 and themovement mechanism218.
• Similarly, amovement mechanism224 that facilitates motion of theend assembly112 relative to thethird arm244 is shown to be located relatively far from thebase114. Hence in one embodiment, theexample motor assembly222 is shown to be positioned at the proximal end of thesecond arm section242 to drive themovement mechanism224 positioned at the distal end of thethird arm section244. In one embodiment,flexible drive cables226 provide the coupling between themotor assembly222 and themovement mechanism224. Similar coupling can be provided between amovement mechanism230 for theend assembly112 and the example motor assembly228 (hidden from view) that is located at the proximal end of thesecond arm section242.
• Thus, one can see that the relatively heavy components (such as servo drive motors) can be positioned in avolume210 that is generally above the mounting location at thebase114. Such positioning of the relatively heavy components can provide greater stability of thearticulator102 during operation or during transport (since the mounting at the base is likely more robust than the latching mechanism that secures the end assembly).
• FIGS. 15-16 show one embodiment of an example platform assembly configured to provide a sliding linear motion of the base of the articulator relative to the vehicle, and also to provide the receiving space for the end assembly of the articulator.
• FIG. 15 shows an isolated view of one embodiment of aplatform assembly250 having amovable mounting plate252 to which the base of the articulator can be mounted. The mountingplate252 is also shown to host aservo drive motor258 that drives the linear motion of the mountingplate252 relative to atop plate254 of the vehicle. In the shown example embodiment, the linear motion is guided by a pair ofrails256, and effectuated by a mechanism such as a belt-driven or a gear-and-rack system.
• As further shown inFIG. 15, thetop plate254 is shown to host anest260 that is configured to receive and secure the end assembly of the articulator.FIGS. 16A and 16B show isolated top and bottom perspective views of thenest assembly260.
• As shown inFIGS. 16A and 16B, one embodiment of thenest assembly260 includes andopening262 through which the end assembly of the articulator enters or exits. Thenest assembly260 is also shown to include a restingplate264 on which the end assembly rests on when secured. Thenest assembly260 is also shown to include alatching mechanism266 configured to secure the end assembly within the nest assembly. As shown inFIG. 16B, thelatching mechanism266 can be a bolt-type device268 that can be actuated either manually or by some powered mechanism. As described previously, thelatching mechanism266 can also be incorporated into the interlock system so that releasing of the end assembly is inhibited under certain conditions.
• As also described previously, theexample nest assembly260 defines theopening262 dimensioned to allow insertion and retraction of the end assembly in a safe manner. Thenest assembly260 may or may not include walls under theopening262.
• Although the above-disclosed embodiments have shown, described, and pointed out the fundamental novel features of the invention as applied to the above-disclosed embodiments, it should be understood that various omissions, substitutions, and changes in the form of the detail of the devices, systems, and/or methods shown may be made by those skilled in the art without departing from the scope of the invention. Consequently, the scope of the invention should not be limited to the foregoing description, but should be defined by the claims, where claim language carries an ordinary meaning as in customary usage and not by special definition unless specifically stated as providing a definition.

Claims (42)

1. A vehicle, comprising:

a movement mechanism configured to facilitate movement of said vehicle;

a body coupled to said movement mechanism;

an articulator coupled to said body so as to allow operation of said articulator from said vehicle; and

a coordinate measuring machine coupled to an end of the articulator.

2. The vehicle ofclaim 1, further comprising a substantially self-contained drive system that allows a human operator to drive said vehicle to different locations.

3. The vehicle ofclaim 2, wherein said drive system comprises an electrical motor that is powered by one or more on-board batteries.

4. The vehicle ofclaim 3, wherein said one or more on-board batteries also power operation of said articulator.

5. The vehicle ofclaim 2, wherein said vehicle includes a plurality of wheels to facilitate said movement, at least one of said plurality of wheels being steerable by said operator.

6. The vehicle ofclaim 1, further comprising a plurality of retractable stabilizers, each capable of being in retracted and deployed positions, wherein said stabilizers are in retracted positions when said vehicle is moving, and wherein said stabilizers are in deployed positions when said vehicle is stationary for operation of said articulator.

7. The vehicle ofclaim 1, where said articulator is coupled to said body via a platform, said articulator being mounted to said platform and said platform being coupled to said body.

8. The vehicle ofclaim 7, further comprising a platform movement mechanism configured to allow movement of said platform with respect to said body to increase the range of motion of said articulator during its operation.

9. The vehicle ofclaim 8, wherein said platform is movable in a translational manner.

10. The vehicle ofclaim 9, wherein said platform movement mechanism comprises a mounting plate coupled to one or more rails that provide guidance for a substantially linear motion of said mounting plate relative to said body, said mounting plate configured to allow mounting of said articulator thereon.

11. The vehicle ofclaim 9, wherein said translational motion comprises a motion of said platform along a longitudinal direction defined by front and rear of said vehicle.

12. The vehicle ofclaim 9, wherein said translational motion comprises a motion of said platform along a direction having a vertical component.

13. The vehicle ofclaim 8, wherein said platform is movable in a rotational manner with respect to said body.

14. The vehicle ofclaim 1, wherein said articulator includes a distal end for mounting of an end assembly.

15. The vehicle ofclaim 14, wherein said body defines an opening that receives at least a portion of said end assembly to provide protection for said end assembly.

16. The vehicle ofclaim 15, wherein said opening is dimensioned so as to allow substantially all of said end assembly to be within a volume defined by said body.

17. The vehicle ofclaim 15, further comprising a latching mechanism that secures said distal end or said end assembly to said body when said articulator is not in use or when said vehicle is in motion.

18. The vehicle ofclaim 1, further comprising an interlock system that inhibits or restricts operation of said articulator under one or more selected conditions.

19. The vehicle ofclaim 18, wherein said interlock system disables movement of said vehicle when said articulator is in its deployed configuration.

20. The vehicle ofclaim 18, wherein said interlock system allows only a limited movement of said articulator transitions between its deployed configuration and secured configuration.

21. The vehicle ofclaim 20, wherein said limited movement comprises limited speed and direction of said movement to reduce the likelihood of damage to said articulator during transition between said deployed and secured configurations.

22. The vehicle ofclaim 18, further comprising an override mechanism that allows overriding of at least one of inhibiting or restricting functionality of said interlock system.

23. The vehicle ofclaim 1, wherein said articulator comprises a plurality of arm sections, with movement of each arm section being effectuated by drive cables driven by motors that are positioned proximately to the location where said articulator is mounted to said body, thereby reducing the moment of inertia of said articulator about said mounting location.

24. The vehicle ofclaim 1, further comprising an articulator interlock system, coupled to the movement mechanism, that can secure the articulator during vehicle movement.

25. A method for operating articulators, comprising:

providing a movement mechanism to a vehicle so as to facilitate movement of said vehicle;

mounting an articulator on said vehicle such that said articulator can be operated at different locations reachable by movements of said vehicle; and

mounting a coordinate measuring machine on said articulator such that the machine can precisely measure position at a variety of coordinates.

26. The method ofclaim 25, wherein said movement mechanism comprises a substantially self-contained drive system that allows a human operator to drive said vehicle to different locations.

27. The method ofclaim 25, further comprising providing a plurality of retractable stabilizers, each capable of being in retracted and deployed positions, wherein said stabilizers are in retracted positions when said vehicle is moving, and wherein said stabilizers are in deployed positions when said vehicle is stationary for operation of said articulator.

28. The method ofclaim 25, wherein said mounting of said articulator to said vehicle comprises mounting said articulator to a platform that is movable relative to said vehicle.

29. The method ofclaim 28, wherein said platform is movable in a translational manner.

30. The method ofclaim 29, wherein said translational motion comprises a motion of said platform along a longitudinal direction defined by front and rear of said vehicle.

31. The method ofclaim 29, wherein said translational motion comprises a motion of said platform along a direction having a vertical component.

32. The method ofclaim 28, wherein said platform is movable in a rotational manner with respect to said body.

33. The method ofclaim 25, further comprising providing a securing assembly that secures said articulator at or near its distal end to reduce likelihood of damage to said articulator during motion of said vehicle.

34. The method ofclaim 25, further comprising providing an interlock system that inhibits or restricts operation of said articulator under one or more selected conditions.

35. The method ofclaim 34, wherein said interlock system disables movement of said vehicle when said articulator is in its deployed configuration.

36. The method ofclaim 34, wherein said interlock system allows only a limited movement of said articulator transitions between its deployed configuration and secured configuration.

37. The method ofclaim 36, wherein said limited movement comprises limited speed and direction of said movement to reduce the likelihood of damage to said articulator during transition between said deployed and secured configurations.

38. The method ofclaim 34, further comprising providing an override mechanism that allows overriding of at least one of inhibiting or restricting functionality of said interlock system.

39. The method ofclaim 25, further comprising providing an articulator interlock system to the vehicle that can secure the articulator during vehicle movement.

40. An apparatus, comprising:

a means for providing a movable vehicle;

a means for providing an articulator to said vehicle; and

a means for precisely measuring a variety of positions of the articulator.

41. The apparatus ofclaim 40, further comprising a means for securing the articulator during movement.

42. The apparatus ofclaim 40, further comprising a means for stabilizing the moveable vehicle sufficiently to precisely measure the variety of positions.

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