Abstract: A milling machine includes a bi-directional, variable speed, rotary workpiece-holding table, a table drive sized to achieve relatively high acceleration and deceleration rates, a cutting tool mounted to a single or dual axis head, and a control system adapted to achieve a high degree of tool position and table rotational position accuracy cooperating to permit high-speed machining operations, including substantially dome-shaped parts characterized by circumferential surface portions interruped by radial wall portions. A dual table drive and interchangeable head arrangement make the machine also suitable for conventional turret lathe operations.

Abstract: A milling machine includes a bi-directional, variable speed, rotary workpiece-holding table, a table drive sized to achieve relatively high acceleration and deceleration rates, a cutting tool mounted to a single or dual axis head, and a control system adapted to achieve a high degree of tool position and table rotational position accuracy cooperating to permit high-speed machining operations, including substantially dome-shaped parts characterized by circumferential surface portions interrupted by radial wall portions. A dual table drive and interchangeable head arrangement make the machine also suitable for conventional turret lathe operations.

Abstract: A milling machine includes a bi-directional, variable speed, rotary workpiece-holding table, a table drive sized to achieve relatively high acceleration and deceleration rates, a cutting tool mounted to a single or dual axis head, and a control system adapted to achieve a high degree of tool position and table rotational position accuracy cooperating to permit high-speed machining operations, including substantially dome-shaped parts characterized by circumferential surface portions interrupted by radial wall portions. A dual table drive and interchangeable head arrangement make the machine also suitable for conventional turret lathe operations.

Abstract: A multi-axis, remote control, mobile, robotic machining center of Cartesian structure having three mutually perpendicular X, Y and Z linear movement axes in which an elongated horizontal ram, adapted to carry various working tools at one outer end thereof, is rigidly supported on a vertical pedestal for movement along the vertical Y axis and linear Z-axis. The ram also is mounted for rotational movement about a horizontal A axis normal to the Y axis and is thereby capable of being selectively positioned in either of two horizontal operating attitudes in which the working tools are operably disposed on opposite sides of the pedestal.

Abstract: A multiple-task end effector attachable to the articulatable head of a computer controlled robotic machining center or "robot" operable to impart multiple linear and rotational axis movements to the end effector which comprises a tool head attachable to the mobile head of the robot for carrying a plurality of working tools held by a power actuated shuttle. The shuttle is selectively operable to position or index each tool carried thereby to a position of coaxial alignment with the central axis of the robot's mobile head and the end effector's tool head. In operation two robots are positioned on opposite sides of fixture held work pieces so that end effectors attached thereto are coaxially aligned and operable to clamp work pieces therebetween with measured, balanced forces.

Abstract: A multiple-task end effector attachment for the articulated head of a computer controlled robotic machining center capable of imparting multi-axis linear and rotational movements to the end effector which comprises opposingly aligned master and slave related tool heads that carry multiple tool drivers receptive of selectively changeable tooling. The tool heads are interjoined and rigidly supported in opposing alignment on opposite sides of fixture held stationary work pieces by means of an intervening generally U-shaped yoke or frame of selected configuration dedicated to the particular shape of the parts assembly. The master tool head of the end effector is connected directly to and carried by the mobile head of the robot which powers and controls the positioning and operation of both tool heads of the end effector.

Abstract: Improved process and apparatus for assembling component parts by means of rivets or similar fasteners in which computer controlled robotic machining centers present selected tools in predetermined special position on opposing sides of the components which are held stationary in a fixture. The robots prepare the rivet holes at multiple selected locations, followed by repositioning of roboticly controlled tools at each hole location for the installation of the fasteners. Throughout hole preparation and fastener installation novel end effectors maintain a symmetrical balance of forces on the components in a manner which avoids stressing and deformation of the components, holding fixture and end assembly.