Abstract: The invention relates to a method for the operation of a component placement unit, a component placement unit for carrying out said method and a feed device for said component placement unit, permitting an optimised flexible operation of component placement units, whereby the main transport direction (HT) of the transport runs (130, 140) is reversed and component supports (110, 120, 120-R) are transported in the opposite direction (GT).

Abstract: A holding head includes an axially driveable shaft having a nozzle at one end of the shaft for holding a component, a motor for driving the shaft in an axial direction in response to power supplied to the motor, and a detecting device for detecting movement of the shall in the axial direction. A method of operating the component holding head comprises using the detecting device to detect movement of the shaft in the axial direction resulting from the shaft being driven by the motor, and controlling power supplied to the motor in response to the movement of the shaft as detected by the detecting device such that the distance that the shaft is driven by the motor in the axial direction is controlled.

Abstract: A mounting system for an electric component operates by transferring the electric component from a component supply device to a suction nozzle of a component-holding head on a circuit substrate. A relative position between a sucking surface of the suction nozzle and an axis of rotation of the component-holding head is obtained. A component-holding head and the component supply device are moved relative to each other on the basis of the obtained relative position, so as to minimize an error of relative positioning between the sucking surface and a predetermined sucking position of the electric component positioned at the component-supply portion. The head and the component supply device are then moved toward each other, for transferring the electronic components from the component supply device to the suction nozzle.

Abstract: The present invention includes a component placement apparatus that can obtain information on the presence/absence of hold members inexpensively and easily, and a component placement method carried out by the component placement apparatus. A replacement hold member detector for detecting the presence/absence of replacement hold members at a hold member change part is installed at a placement head. The presence/absence is detected by moving an XY-robot so as to scan the hold member change part equipped with the replacement hold member detector. At the same time, type information attached to the replacement hold members is rendered readable by the replacement hold member detector. One replacement hold member detector is enough according to the apparatus and method of the present invention. The presence/absence information of the hold members can be obtained inexpensively and easily.

Abstract: Embodiments of the invention generally provide an apparatus for pressing an optical component into an optical housing. The apparatus generally includes a fixture configured to support the optical housing, a press tool configured to press the optical component into the optical housing, and a controller in electrical communication with the press tool, the controller being configured to control the press operation. The apparatus may further include a camera positioned in an optical path of the optical housing, the camera being configured to receive an optical output of the optical component and transmit data representative of the output to the controller for use in controlling the press operation. The controller is generally configured to use the optical measurements taken by the camera to control the pressing operation such that the optical source or lens is pressed to an optimal longitudinal position within the optical housing.

Abstract: An apparatus for detecting a positioning error of an electric component with respect to a suction nozzle by which the electric component is held by suction under a negative pressure, wherein image data representative of images of the suction nozzle and a dog disposed near the suction nozzle are processed to obtain a relative position between the suction nozzle and the dog, a second image-taking step of taking an image of the electric component held by the suction nozzle and an image of the dog, and the positioning error of the electric component with respect to the suction nozzle is obtained on the basis of image data representative of images of the electric component and the dog, and the obtained relative position between the suction nozzle and the dog. Also disclosed is a method and apparatus for mounting the electric component on a circuit substrate, on the basis of the obtained positioning error of the electric component.

Abstract: A method and circuit board assembly provide a zero interconnection height in a board-to-board interconnect while maintaining efficient space allocation for multiple axis connections by providing a floating connection in one plane thereby enabling a connection in another plane.

Abstract: An apparatus is provided to assist a user in aligning and sizing a plurality of spaced-apart channels to be formed in a cleat connected to a power generator housing so as to secure a plurality of leads extending from a power generator through the housing. The apparatus includes a main member to which secondary members removably and movingly connect to align with the leads. Channel sizers connect to the secondary members to register the diameter of each lead. The apparatus first aligns with and registers the diameter of each lead and is then positioned adjacent the housing to assist the user in correctly spacing and forming holes in a support structure such as a cleat. Related methods are also provided for aligning and sizing channels to be formed in a cleat or other support structure to secure the leads extending from the power generator through the housing.

Abstract: An apparatus for mounting one or more electric components on a circuit substrate, the apparatus including a nozzle moving device which moves a suction nozzle having an end surface that applies a suction to an electric component and thereby holds the component, in a direction intersecting an axis line of the suction nozzle, and an elevating and lowering device which elevates and lowers the suction nozzle so that the suction nozzle performs at least one of sucking and holding the electric component and mounting the component on the circuit substrate, the elevating and lowering device including a movable member, and a connecting device which connects the movable member to the suction nozzle such that the suction nozzle continues moving while the movable member continues moving, the connecting device including a downward-movement control device which changes, while the apparatus performs an electric-component mounting operation, at least one of a position of an end of a downward movement of the suction nozzle cau

Abstract: An improved apparatus and method for the placement and bonding of a die on a substrate includes a movable die holder, a movable substrate holder, a pivoting transfer arm that picks a die from the movable die holder and transfers the die to a position adjacent the movable substrate holder, and a bondhead assembly for picking the die from the transfer arm and then bonding the die to the substrate.

Abstract: A mounter head is provided for a surface mounting apparatus which is capable of easily controlling a pitch of a mounting device as well as preventing backlash when the device is mounted on a printed circuit board. The mounter head includes a rack block having a rack for moving up and down by means of a pinion rotated by a driving source; a nozzle shaft installed at one side of the moving unit; a nozzle secured to the lower end of the nozzle shaft for sucking a device to be mounted; and a driving source installed corresponding to each nozzle shaft for rotating each nozzle.

Abstract: An apparatus for finding and immobilizing a vehicle chassis frame in its free state to form a net datum position in the design-intent position. The chassis frame is positioned between a plurality of opposed pads. The opposed pads are advanced from a retracted position to an advanced position to find the chassis frame. The opposed pads engage the chassis frame such that there is minimal displacement or deformation thereof. Once the opposed pads find their respective reference contact surfaces on the chassis frame, a locking mechanism is provided for locking the pair of opposed pads in place in the advanced position so as to immobilize the chassis frame therebetween. Subsequently, a forming and piercing mechanism may be used to fabricate locating features net to the frame fixture and in design-intent position on the chassis frame.

Abstract: The substrates can be transported on a top transporting section (5) to component-fitting locations (6) of the component-fitting apparatus (1). Conveying sections (13) for substrates (4) which are to be routed past the component-fitting locations (6) are arranged on a number of conveying levels beneath the transporting section (5). This reduces the structural outlay for the component-fitting apparatuses.

Abstract: A core board forming apparatus includes a feeding apparatus for sensing and dispensing tubular cores at predetermined dispensing positions. A compression apparatus receives and detects the tubular cores and flattens and secure at least two flattened tubular cores together. A controller unit controls the operation of the feeding apparatus and the compression apparatus. The presence of first tubular core is detected after the step of dispensing. In response to detecting the first tubular core is substantially flattened. A core board product includes at least two substantially flattened paper cores fastened together by integral fastening members having two fastening portions extending directly through the flattened cores.

Abstract: A method of preventing a nozzle or nozzles from dropping in a component mounting apparatus include gripping the nozzle structures with pivotal levers that are biased to a closed position. The pivotal levers are released after activation of the nozzles to permit appropriate movement for picking up, inspecting, orientating and locating electronic components on a substrate with the nozzles. During the operation of the mounting head, the levers are maintained in a release position against a biasing force and at the end of the operation, the biasing force can then cause the levers to close and support the nozzles in a gripping manner.

Abstract: An electronic parts-mounting method for mounting parts on a board in which at least two electronic parts can be picked up by a plurality of nozzles including a plurality of first nozzles arranged substantially parallel to the direction of movement of the board and a plurality of second nozzles arranged substantially perpendicular to the direction of movement of the board such that the positions of the parts picked up by the second nozzles can be recognized by a line sensor and corrected.

Abstract: The present invention concerns a controllable holding and mounting device for use with the construction of an insulated glass window. The mounting device includes a mounting frame and a tie-bar. A positioning laying-on device is connected to the tie-bar and adapted to support a spacer frame for the window. The spacer frame is fixed into position in the mounting device by a distance positioning supporting device that engages the spacer frame and fixes it between the supporting device and the laying-on device. A gripping device is provided that is adapted to support and position a muntin within the spacer frame. A screwing device that is movable relative to the spacer frame is also provided and is capable of driving a screw through the spacer frame and into the muntin to thereby secure the muntin to the spacer frame.

Abstract: A jig switching apparatus includes a locator jig slidably arranged on a transport carriage and having at a front end a locate pin with clamp function. The locator jig has two switching positions selectively switched in accordance with the type of a vehicle body to be positioned. A lock mechanism with an operating screw is disposed on the transport carriage. Through the operating screw operated by a nut runner, the lock mechanism mechanically positions and locks the locator jig in one of the switching positions with respect to a reference member disposed on the transport carriage.

Abstract: A gap setting apparatus incorporates an air gage to measure the pressure drop (and indirectly the flow rate) of air through a gap of a hydrodynamic bearing, while facing sections of the bearing are moved closer together. The measured pressure drop can be correlated to the actual bearing gap and monitored to determine when the proper gap has been achieved. More particularly, the inner and outer elements of the bearing are clamped in separate carriers and are held in place. The carriers are then moved toward one another so that the inner or shaft portion of the bearing slides into the outer or sleeve portion of the bearing. To accurately set the gap between the two, an air hose with an air gage attached to it is attached to one end of the bearing gap; air is pumped through the bearing gap, exiting through the opposite end of the gap, By testing a set of reference motor parts, a high end and a low end of an acceptable bearing gap range can be established, and the corresponding air gage readings obtained.

Abstract: A clamping head assembly for clamping a first member to a second member at a miter joint, where the clamping head assembly includes a first fence member with a first positioning edge for positioning an edge of the first member and a second fence member that is movable and includes a second positioning edge for positioning an edge of the second member. The second positioning edge is arranged at an angle with respect to the first positioning edge. Additionally, the first fence member and the second fence member are configured and arranged so that the angle is approximately bisected by the miter joint formed between the first and second members. The second fence member is movable in a direction that is approximately perpendicular to the miter joint, whereby a normal force is generated upon the miter joint. Furthermore, the present invention also relates to a frame making machine that includes the clamping head assembly just described.

Abstract: A component mounting apparatus includes a board transfer section for carrying in circuit boards to a component mounting position and carrying out the circuit board after component-mounting operation. A component feed section is provided for feeding, to a specified position, a component to be mounted onto the circuit board, and a component mounting section is provided for loading a suction nozzle matching the component to be mounted, sucking up the component from the component feed section and moving the component to the mounting position, and mounting the component on a specified site of the circuit board. A controller is provided for controlling operations of the individual sections is order to execute a productional operation of component-mounting onto the circuit boards.

Abstract: A method for stabilizing the form of a letter S of an inner lead after bonding in a method of manufacturing &mgr;BGA·IC in which a chip is fixed via an insulating film on a tape carrier on one main surface of which plural inner leads are laid and each electrode pad of the chip is bonded to each inner lead is disclosed. The inner lead is bonded to the electrode pad when the chip is supplied in a fixed position for a bonding tool. Next, the respective positions of the inner lead and the electrode pad are recognized using a feature lead and an electrode pad. The center line of the inner lead is recognized, the inner lead is pushed to the chip in the direction of the base and bent in the form of a letter S, the end of the inner lead is bonded to the electrode pad by thermocompression by the bonding tool.

Abstract: The system includes stationary assembly jigs for supporting mechanical structures during assembly thereof, and a plurality of mobile, modular workstations that travel from one assembly jig to another. Each workstation interfaces with the assembly jigs and is configured to facilitate a unique set of work operations on the mechanical structures. The workstations can include worker platforms, parts storage modules, drill and fasten modules, tooless component indexing modules, self-contained cleaning modules, functional testing modules, and others. Docking members on the workstations and the assembly jigs enable the workstations to dock with the jigs for indexing the workstations to the jigs. The assembly jigs can include utility ports and the workstations can include couplers that engage the ports so that electrical, pneumatic, water, vacuum, and/or data communication can be established between the workstations and the jigs.

Abstract: A method of mounting an electric component on a circuit substrate, including the steps of moving one of a suction nozzle and an electric-component supplying device toward the other of the nozzle and the supplying device, so that the nozzle applies a suction to the component supplied by the supplying device and thereby receives the component, moving one of the nozzle and the substrate toward the other of the nozzle and the substrate, so that the nozzle mounts the component on the substrate, taking an image of at least a portion of the component held by the nozzle, as seen in a direction perpendicular to an axial direction of the nozzle, in a state in which the nozzle takes a known position in the axial direction, determining, based on image data representing the taken image, a position of a mounted surface of the electric component that is opposite to a sucked surface of the component sucked by the nozzle, and controlling, based on the determined position, a movement of the nozzle toward one or each of the sup

Abstract: Three-dimensional large scale bodies such as jumbo aircraft fuselages (14) are assembled in body sections around a central longitudinal assembly core (1) which itself is mounted at its ends and accessible all around along its length. Robots carrying tools for holding, transporting and precisely positioning pre-assembled wall shell sections, are movable along the central core (1). First, at least one floor grid (2 or 3) is releasably mounted to the core. Then, side wall shell sections (4, 5) are secured to the floor grids. Then, top and bottom wall shell sections (10, 8) are secured to the side wall shell sections (4, 5) to form a body section (BS) of the large scale body (14). Neighboring body sections are secured to each other along cross-seams. Upon completion, the floor grids are released from the core (1) and the core is removed preferably withdrawn longitudinally from the assembled large component or body.

Abstract: In manufacturing a disc cartridge having a pair of opposing upper and lower shells, and an information recording medium disc accommodated therebetween, first ends of the shells are coupled, second ends of the shells are coupled when first ends of the shells are coupled, and the disc is inserted from the opened second ends of the shells.

Abstract: A computer hard drive assembly device is described which can include a turntable, a motor, and a control. The turntable can include a platform configured to secure computer hard drive components to the turntable. The motor can be coupled to the turntable by a rotating drive shaft which allows the motor to rotate the turntable. The control can be coupled to the motor and is coupled to engage the motor. A method for computer hard drive assembly using the device is also provided.

Abstract: Mounting apparatus for electronic parts includes a mounting head and a suction-operated gripping mechanism for selectively gripping an object positioned adjacent one side of the gripping mechanism. A suction-operated attaching mechanism is also provided for selectively and removably attaching the gripping mechanism to the mounting head, whereby the gripping mechanism is removable from the mounting head and is hence replaceable. The mounting apparatus also has a viewing mechanism, including a camera, for viewing an object gripped by the gripping mechanism. The viewing mechanism is located on an opposite side of the gripping mechanism. The gripping mechanism has a light-transmitting portion positioned in such a manner that an object gripped by the gripping mechanism can be viewed by the camera through the gripping mechanism.

Abstract: A precision assembly table and method includes a plurality of rigid bars connected to adjustable support members which can individually adjust the position of the rigid bars above a surface and a frame to create a desired contour. The structure to be assembled, such as a magnetic levitation guideway, is positioned and held in place on top of the rigid bars which have been positioned so as to define a desired contour of the structure and to which the structure will mechanically conform. The position of the rigid bars is monitored and adjusted by a computer to maintain the desired contour while the structure resting on the rigid bars is being assembled.

Abstract: An electronic component mounting apparatus and an electronic component mounting method are provided which improve the productivity by reducing the cycle time. The electronic component mounting method includes the steps of a) picking up an electronic component from a first supplying section or a second supplying section respectively disposed on each side of a substrate, b) recognizing the electronic component by a recognition section, and c) moving and mounting the electronic component on the substrate. Frequently used electronic components are stored in both of the first and second supplying sections. The electronic components are picked up from the first supplying section and mounted on the substrate in the normal operating conditions. When the electronic components stored in the first supplying section run out, the same kind of components are provided by the second supplying section to continue the mounting operation.

Abstract: A component mounting method for picking up components with a mounting head having multiple suction nozzles, and mounting these components on a mounting target after recognition. Components picked up integrally move against a component recognizer disposed on a movement route of the head for scanning and recognizing each component. During scanning, the slowest speed in scanning speeds required for recognizing each component is used. This eliminates a approaching time needed for switching speed during scanning of each component, thus reducing the total recognition time to improve mounting efficiency.

Abstract: An apparatus and a method for compliant positioning of an object during an assembly operation wherein the apparatus includes a base plate, a locator plate for mounting an object such as a clamp or a tool spaced from the base plate and a plurality of linear actuators connected between the base plate the locator plate by universal joints providing six degrees of freedom of movement. According to the apparatus and the method a control is connected to the actuators for selectively moving the locator plate to a predetermined position relative to the base plate for contacting a component to be assembled with an object mounted on the locator plate. Tow or more of the actuators can be mechanically coupled to move the locator plate with less than six degrees of freedom. The control is responsive to a force applied to the locator plate through the object during assembly of the component for actuating the linear actuators to change the applied force.

Abstract: An apparatus for serially making formed parts from a web of deformable material with a stud mounted therein having a plurality of progressive die forming stations for forming multiple parts from the web by advancing the web through each forming station. In one embodiment, the apparatus has feeding, driving and transfer mechanisms for controlling the feeding and insertion of studs at spaced locations into the web.

Abstract: In a rotary articulated robot having at least a plurality of offset rotary joints in which a drive arm and driven arm are driven in rotation about an offset rotary axis inclined with respect to the arm axis, a hollow rotary shaft that is driven in rotation by a motor is arranged rotatably, being inclined, at the leading end of the arm of either the drive arm or driven arm while a rotor member to which turning effort from the hollow shaft is transmitted is fixed at the base of the other arm, said hollow rotary shaft and said rotor member constituting a high reduction ratio transmission/torque increasing mechanism.

Abstract: A handling apparatus for handling cables includes first and second members connected together for relative movement between an open position in which a cable may be inserted between the members, and a closed position in which the cable is securely held between the members with a part of the cable projecting outwardly of the members, to enable the first and second members to be held whilst work operations are carried out on the projecting part, the apparatus further including an elongate indicating device received by the first member for axial sliding movement relative to the first member, the indicating device having an indicator and a plurality of markings arranged at predetermined positions axially of the indicating device, the indicating means being slidable so as to bring the markings severally into registry with a reference part of the first member whereby the indicator is positionable relative to the first member at predetermined positions relative to the projecting part of the cable when the first and

Abstract: An electronic-parts mounting apparatus includes an electronic-parts feeder. A mounting head operates for carrying electronic parts from the electronic-parts feeder. The mounting head includes a plurality of nozzles for holding the electronic parts respectively. An electronic-parts mounting portion operates for enabling the mounting head to mount the electronic parts on a circuit board. A first mechanism operates for rotating each of the nozzles. A second mechanism operates for moving each of the nozzles upward and downward. The first mechanism may include a pinion provided on an outer circumferential surface of each of the nozzles, and a rack meshing with the pinion.

Abstract: Automated parts assembly station comprising positioning means (11) having surfaces (15a, 16a) defining the desired mutual position of the parts to be assembled and assembly means (13) connecting the parts. At at least some of said surfaces (15a, 16a) there are measurement means (18) for the distance between said at least some surfaces and facing surfaces of the parts being assembled.

Abstract: A component mounter which includes a component feeder carriage; mounting head having two or more suction nozzles for picking up a component from the feeder carriage; image capturing means for taking an image of each component held by the suction nozzles; and a recognizer for recognizing each component based on image data obtained by the image capturing means according to a mounting sequence of each component. Each component is immediately and individually mounted on a mounting target after recognition. This configuration allows to eliminate wasteful standby time, thus offering efficient component mounting.

Abstract: A voice coil motor is attached to a shaft, that is installed in a component holding head, to drive the shaft in an axial direction. Also, a detecting device is arranged to detect movement of the shaft. The supply of power to the voice coil motor is controlled on the basis of a detection result of the detecting device, whereby movement of the shaft in the axial direction is controlled. The movement of the shaft in the axial direction is accordingly correctly known.

Abstract: Three-dimensional large scale bodies such as jumbo aircraft fuselages (14) are assembled in body sections around a central longitudinal assembly core (1) which itself is mounted at its ends and accessible all around along its length. Robots carrying tools for holding, transporting and precisely positioning preassembled wall shell sections, are movable along the central core (1). First, at least one floor grid (2 or 3) is releasably mounted to the core. Then, side wall shell sections (4, 5) are secured to the floor grids. Then, top and bottom wall shell sections (10, 8) are secured to the side wall shell sections (4, 5) to form a body section (BS) of the large scale body (14). Neighboring body sections are secured to each other along cross-seams. Upon completion, the floor grids are released from the core (1) and the core is removed preferably withdrawn longitudinally from the assembled large component or body.

Abstract: A system for adjustably recreating an interior architecture of a vehicle and a method of constructing the interior architecture. A platform is constructed of a plurality of planar shaped floor plates arrayed in coplanar fashion. A cage is constructed upon the platform and includes first vertically extending and telescoping supports which are secured at selected locations along edges of the platform. Second horizontally extending supports interconnect top ends of the first vertically extending supports and both the first and second supports are axially adjustable in length to define a specified interior volume of the cage. A series of generic form patterns corresponding to interior/exterior components of a vehicle are assembled upon the platform and within the interior volume of the cage and are further capable of being easily and manually repositioned relative one another to ergonomic testing without regard to particular styling or ornamentation.

Abstract: A method of constructing trusses includes providing a laser jigging system that projects the location of the jigging hardware so that an operator can easily, quickly, and precisely position the jigging hardware on the work-surface prior to positioning any truss members on the work-surface is described. More particularly, the system projects puck and other jigging hardware alignment or location guides on the table work-surface. With the alignment guides projected on the table, the pucks and other jigging hardware are located in alignment with the projected guides, and secured to the table. The truss members are located on the table in accordance with the pattern defined by the jigging, and connector plates are then engaged with the truss members.

Abstract: Methods for assembling, handling, and fabricating are disclosed in which targets are used on objects. The targets can be specifically applied to the object, or can be an otherwise normal feature of the object. Conveniently, the targets are removable from the object or covered by another object during an assembling process. One or more robots and imaging devices for the targets are used. The robots can be used to handle or assemble a part, or a fixture may be used in conjunction with the robots. Conveniently, the CAD design system is used in designing the targets as well as for the assembly process using the targets. A plurality of targets can also be used to monitor and inspect a forming process such as on a sheet panel.

Abstract: In a flip-chip bonding apparatus, a die inverting device is installed on an optical recognition device so that a vacuum suction chucking nozzle that is provided on the die inverting device can rotate in the direction of a pick-up position and in the direction of a die transfer position in an outside area of an open window of the optical recognition device, so that the bonding apparatus can be compact and has an improved precision of recognition of the amount of positional deviation of the die.

Abstract: A method for tensioning shaped parts, with a frame and a plurality of tensioning elements which are formed by a holding part and a clamping part. The holding part abuts the shaped part pointwise and a clamping part pushes the shaped part in the direction of the surface normal against the holding part.

Abstract: The behavior of a nozzle tip is measured with a jig when the suction nozzle moves vertically and rotatively before the start of production. The nozzle tip displacement is formulated from the results with a component thickness and a mounting angle used as parameters, and the parameters are corrected according to the component thickness and the final mounting angle of the electronic component to be mounted in the production stage.

Abstract: An assembly tool for attaching components such as connector plugs or receptacles to a printed circuit board includes a printed circuit board support plate and a sliding member. The sliding member is movable between a first position and a second position relative to the support plate. A holder is pivotally connected to the sliding member and carries a component to be attached to the printed circuit board. A first actuator is connected to a sliding member and moves the sliding member between the first and second positions. A second actuator is connected to the holder and pivots the holder between a receiving position and a mounting position. A component is brought into proximity with the holder and checked for alignment and polarity. Once checked, the component is placed on the holder.

Abstract: The present invention concerns a method and apparatus of automatically mounting electronic components at predetermined positions of an electronic circuit board, which comprise a mounting process of taking out an electronic component 10 from an electronic components holding unit 6 and mounting onto an electronic circuit board 5 and a processing process to trim the electronic component 10 during the mounting process to a preferable characteristic value thereby allowing to reduce the number of types of electronic components 10 to be stored in the electronic components holding unit 6 and reduce the equipment cost and the management cost of the electronic components 10.

Abstract: The present invention relates to an electronic parts mounting device designed to mount chip type electronic parts on a printed board. It is an object of the invention to provide a compact and high-speed electronic parts mounting device. To achieve this object, the present invention provides first and second drive systems (12) and (13) for driving first and second supplying portions (2) and (3) arranged on both sides of a table portion (6) and has arrangement pitches of suction nozzles (18) of each supplying portion, each of the drive systems (12) and (13), and each cassette (4) of the supplying portions identical with each other. This structure provides the compact and high-speed electronic parts mounting device.

Abstract: A placement apparatus for co-planar placement of a tool on a component carrier using a rotational placement arm in which the tool is moved between the base or loading position of the placement arm and the near-placement position substantially on a circular path, and in which the tool is moved linearly between the near-placement position and the placement position.