James Aaron Spalding

US Patent:

59439149, Aug 31, 1999

Filed:

Mar 27, 1997

Appl. No.:

8/827144

Inventors:

Alan K. Morimoto - Albuquerque NM
David M. Kozlowski - Albuquerque NM
Steven T. Charles - Germantown TN
James A. Spalding - Springfield KY

Assignee:

Sandia Corporation - Albuquerque NM

International Classification:

B25J 300
B25J 700
G05G 1100

US Classification:

7447901

Abstract:

An apparatus based on precision X-Y stages that are stacked. Attached to arms projecting from each X-Y stage are a set of two axis gimbals. Attached to the gimbals is a rod, which provides motion along the axis of the rod and rotation around its axis. A dual-planar apparatus that provides six degrees of freedom of motion precise to within microns of motion. Precision linear stages along with precision linear motors, encoders, and controls provide a robotics system. The motors can be positioned in a remote location by incorporating a set of bellows on the motors and can be connected through a computer controller that will allow one to be a master and the other one to be a slave. Position information from the master can be used to control the slave. Forces of interaction of the slave with its environment can be reflected back to the motor control of the master to provide a sense of force sensed by the slave. Forces import onto the master by the operator can be fed back into the control of the slave to reduce the forces required to move it.

US Patent:

60002972, Dec 14, 1999

Filed:

Apr 28, 1999

Appl. No.:

9/301063

Inventors:

Alan K. Morimoto - Albuquerque NM
David M. Kozlowski - Albuquerque NM
Steven T. Charles - Germantown TN
James A. Spalding - Springfield KY

Assignee:

Sandia Corporation - Albuquerque NM

International Classification:

B25J 300

US Classification:

7447901

Abstract:

A method based on precision X-Y stages that are stacked. Attached to arms projecting from each X-Y stage are a set of two axis gimbals. Attached to the gimbals is a rod, which provides motion along the axis of the rod and rotation around its axis. A dual-planar apparatus that provides six degrees of freedom of motion precise to within microns of motion. Precision linear stages along with precision linear motors, encoders, and controls provide a robotics system. The motors can be remotized by incorporating a set of bellows on the motors and can be connected through a computer controller that will allow one to be a master and the other one to be a slave. Position information from the master can be used to control the slave. Forces of interaction of the slave with its environment can be reflected back to the motor control of the master to provide a sense of force sensed by the slave. Forces import onto the master by the operator can be fed back into the control of the slave to reduce the forces required to move it.

US Patent:

6016607, Jan 25, 2000

Filed:

Apr 28, 1999

Appl. No.:

9/301500

Inventors:

Alan K. Morimoto - Albuquerque NM
David M. Kozlowski - Albuquerque NM
Steven T. Charles - Germantown TN
James A. Spalding - Springfield KY

Assignee:

Sandia Corporation - Albuquerque NM

International Classification:

G09B 2332
G05G 1100

US Classification:

33 1M

Abstract:

An apparatus based on precision X-Y stages that are stacked. Attached to arms projecting from each X-Y stage are a set of two axis gimbals. Attached to the gimbals is a rod, which provides motion along the axis of the rod and rotation around its axis. A dual-planar apparatus that provides six degrees of freedom of motion precise to within microns of motion.