Abstract: An end effector for handling a sheet of flexible material. The end effector includes a support frame and manipulator assemblies, each attached to the support frame by a support mount. The manipulator assemblies include a holding tool having a lifting surface. The manipulator assemblies include a linear actuator, and the holding tool is connected to the linear actuator by a multiaxial joint. A drive provides—the displacement of the holding tool by the linear actuator. The end effector includes resilient members each rigidly affixed to two adjacent holding tools and positioned in a space providing a mutual distance between opposing faces of the adjacent holding tools, where each holding tool is connected to—adjacent holding tools—by the resilient members. The resilient members are configured to non-permanently deform in the space when adjacent holding tools are displaced relative to each other along displacement axes.

Abstract: Methods includes calibrating robots without the use of external measurement equipment and copying working programs between un-calibrated robots. Both methods utilize the properties of a closed chain and the relative position of the links in the chain in order to update the kinematic models of the robots.

Abstract: Methods includes calibrating robots without the use of external measurement equipment and copying working programs between un-calibrated robots. Both methods utilize the properties of a closed chain and the relative position of the links in the chain in order to update the kinematic models of the robots.

Abstract: The invention pertains to a method of calibrating robots without the use of external measurement equipment. The invention furthermore pertains to a method of copying working programs between un-calibrated robots. Both methods utilize the properties of a closed chain and the relative position of the links in the chain in order to update the kinematic models of the robots.

Abstract: There is provided a computer-implemented method for determining feasible joint trajectories for an n-dof (n>5) robot in a rotation invariant processing of an object, such as milling, painting, and welding. The method includes the steps of receiving geometric data representing the object; receiving geometric data representing the processing tool; receiving a tool path X(t), where t is time; searching for feasible paths qRobot (t) using IK (t) and qTool (t) as set of possible solutions at time t, wherein qRobot (t) defines positions of all the joints in the robot as function of time, qTool (t) defines the rotation of a tool flange around the tool axis at time t, and IK (t) defines the inverse kinematics solutions for a given X(t) and qTool (t); and determining, from the geometric data and X(t), how the joint path qRobot (t) should be chosen so as to comply with one or more optimisation criteria.

Abstract: A seat back tray for being pivotally mounted an aircraft seat, and including a frame mounted on the aircraft seat and movable between a stowed position against a seat back of the aircraft seat and a deployed, generally horizontal position for use by an aft-seated occupant and a fabric sleeve formed of top and bottom panels for being removably positioned in a tensioned condition on and supported by the frame for providing a support surface for use items.

Abstract: A seat back tray for being pivotally mounted an aircraft seat, and including a frame mounted on the aircraft seat and movable between a stowed position against a seat back of the aircraft seat and a deployed, generally horizontal position for use by an aft-seated occupant and a fabric sleeve formed of top and bottom panels for being removably positioned in a tensioned condition on and supported by the frame for providing a support surface for use items.

Abstract: There is provided a computer-implemented method for determining feasible joint trajectories for an n-dof (n>5) robot in a rotation invariant processing of an object, such as milling, painting, and welding. The method includes the steps of receiving geometric data representing the object; receiving geometric data representing the processing tool; receiving a tool path X(t), where t is time; searching for feasible paths qRobot (t) using IK (t) and qTool (t) as set of possible solutions at time t, wherein qRobot (t) defines positions of all the joints in the robot as function of time, qTool (t) defines the rotation of a tool flange around the tool axis at time t, and IK (t) defines the inverse kinematics solutions for a given X(t) and qTool (t); and determining, from the geometric data and X(t), how the joint path qRobot (t) should be chosen so as to comply with one or more optimisation criteria.

Abstract: The present invention is a method of producing perforated articles. A woven material, such as woven graphite, is impregnated with a curable high flow resin, such as epoxy or BMI resin, and placed on a pressure transmitting pad which has stud holes positioned and sized so as to permit the studs of a flexible mold to fit therein. The material can be smoothed over the pad using a roller. The studded flexible mold, which can be of polypropylene, polyethylene or PEEK, is then applied, pushing the studs through the woven material and into the stud holes. The pressure transmitting pad is removed and the flexible mold with the woven material thereon is formed to a desired contour, such as through placing the mold on a forming tool, followed by partially curing the resin impregnated in the woven material until the impregnated resin material has sufficient structural integrity to permit removal from the mold without permanent deformation.