Machine tools

Abstract

A representative machine comprises a non-rigid robotic device having a tool head; and a rigid inertial stiffening system that is part of a tool head and includes a mass to provide precise position of the tool head. The rigid inertial stiffening system achieves high positional precision of the tool head, in the face of large disturbing forces by locally accelerating the mass to counter the disturbing forces.

1 - 13 . (canceled) 
     
     
         14 . A machine comprising:
 a tool head;   a mass that is attached to the tool head;   at least one servo device that facilitates creating the acceleration of the mass and positioning the mass; and   at least one drive motor that facilitates achieving positional precision of the tool head, in the face of disturbing forces by locally accelerating the mass to counter the disturbing forces.   
     
     
         15 . The machine as defined in  claim 14 , further comprising a control system that controls the forces used to accelerate the attached mass, wherein the control system utilizes sensed position of the tool head either absolute position or position relative to a work-piece. 
     
     
         16 . The machine as defined in  claim 15 , wherein the sensing of the position is of high bandwidth of approximately 1000 Hz, so that the positional precision can be enhanced. 
     
     
         17 . The machine as defined in  claim 15 , wherein the relative position is measured using sensors that detect the surface being milled or processed by mechanical contact with the surface or optical observation of the surface. 
     
     
         18 . The machine as defined in  claim 14 , wherein the at least one servo device creates a fewer degrees of freedom of the mass than that used by the tool head. 
     
     
         19 . The machine as defined in  claim 14 , wherein the mass is attached to a robot or other positioning device of low mechanical stiffness, wherein this arrangement constrains the motion of the tool head relative to the attached mass to a level within the capability of the at least one servo device. 
     
     
         20 . The machine as defined in  claim 19 , wherein the other positioning device has fewer degrees of freedom than that used by the tool head. 
     
     
         21 . A rigid inertial stiffening system comprising:
 a tool head;   a mass that is attached to the tool head; and   at least one servo device that facilitates positioning of the mass and creating the local acceleration of the mass to counter large disturbing forces to achieve positional precision of the tool head, in the face of the disturbing forces.   
     
     
         22 . The rigid inertial stiffening system as defined in  claim 21 , further comprising a control system that controls the forces used to accelerate the mass, wherein the control system utilizes sensed position of the tool head either absolute position or position relative to a work-piece. 
     
     
         23 . The rigid inertial stiffening system as defined in  claim 22 , wherein the sensing of the position is of high bandwidth of approximately 1000 Hz, so that the positional precision can be enhanced. 
     
     
         24 . The rigid inertial stiffening system as defined in  claim 22 , wherein the sensed position is measured using sensors that detect the surface being milled or processed by mechanical contact with the surface or optical observation of the surface. 
     
     
         25 . The machine as defined in  claim 21 , wherein the at least one servo device creates a fewer degrees of freedom of the mass than that used by the tool head. 
     
     
         26 . The rigid inertial stiffening system as defined in  claim 21 , wherein the mass is attached to a robot or other positioning device of low mechanical stiffness, wherein this arrangement constrains the motion of the tool head relative to the mass to a level within the capability of the at least one servo device. 
     
     
         27 . The rigid inertial stiffening system as defined in  claim 26  wherein the other positioning device has fewer degrees of freedom than that used by the tool head. 
     
     
         28 . A machine comprising:
 a robotic device;   a mass that is coupled to the robotic device;   a tool head that is coupled to the mass;   at least one servo device that facilitates creating the acceleration of the mass and positioning the mass; and   at least one drive motor that is designed to move the mass, wherein at least one drive motor facilitates in accelerating the mass to counter disturbing forces.   
     
     
         29 . The machine as defined in  claim 28 , wherein the mass is attached to another positioning device that has fewer degrees of freedom than that used by the tool head. 
     
     
         30 . The machine as defined in  claim 28 , further comprising a control system that controls the forces used to accelerate the attached mass, wherein the control system utilizes sensed position of the tool head either absolute position or position relative to a work-piece. 
     
     
         31 . The machine as defined in  claim 30 , wherein the sensing of the position is of high bandwidth of approximately 1000 Hz, so that the positional precision can be enhanced. 
     
     
         32 . The machine as defined in  claim 28 , wherein the sensed position is measured using sensors that detect a surface being milled or processed by mechanical contact with the surface or optical observation of the surface. 
     
     
         33 . The machine as defined in  claim 28 , wherein the at least one servo device creates a fewer degrees of freedom of the mass than that used by the tool head.