Abstract: A method for producing a roll-clad aluminium workpiece and an associated roll-clad aluminium workpiece are provided, wherein a core ingot is produced from an aluminium alloy and at least one cladding piece is produced from a cladding material, wherein at least one groove is introduced into the core ingot and/or into a layer applied to the core ingot, wherein the cladding piece is inserted into the groove, and wherein the core ingot is hot-rolled after the cladding piece has been inserted, the width of the groove being equal to or less than the core ingot width. A use of such a roll-clad aluminium workpiece is also provided for producing a soldered workpiece, in particular a folding tube.

Abstract: A superalloy component such as a gas turbine engine blade (40) having a ceramic thermal barrier coating (41) is repaired using a textured repair foil (30). A degraded region of the thermal barrier coating is removed (14) and the underlying superalloy material surface is prepared (16) for re-coating. The repair foil is includes a layer of boron-free braze material (34) and a layer of superalloy material (32) having a textured surface (36). The foil is brazed (18) to the prepared surface during a solution heat treatment effective to homogenize the braze (20). A new area of thermal barrier coating (46) is applied over the foil with a bond that is enhanced by the texturing of the foil surface.

Abstract: A manufacturing apparatus for manufacturing a blower blade including a plurality of blade portions having the same shape and arranged around a rotation axis line includes a machining device for machining the blower blade and a control device for controlling the machining device. The control device includes a command creation unit for creating an operation command to the machining device according to a machining program and a machining parameter, a balance measurement unit for measuring balance of the blower blade, and a machining amount adjustment unit configured to individually adjust a machining amount of each of the blade portions without changing the machining program, based on data of the balance of the blower blade measured by the balance measurement unit so as to reduce unbalance of the blower blade. A manufacturing method using the above-described manufacturing apparatus is also provided.

Abstract: A method of defining a rib structure within an iso-grid composite component according to an exemplary aspect of the present disclosure includes, among other things, defining a first rib at least partially with a uni-tape ply bundle at a first level, the uni-tape ply bundle including uni-tape plies and a first spacer ply, and defining a second rib transverse to the first rib at least partially with a spacer at the first level, the spacer including a second, different spacer ply, the spacer transverse to the uni-tape ply bundle such that the spacer is interrupted by the uni-tape ply bundle.

Abstract: A heat exchanger tube with a tube axis, a tube wall, a tube outside and a tube inside. Continuously running, axially parallel or helically circling inner ribs are formed out of the tube wall on the tube inside, each inner rib having two rib flanks and a rib tip. A continuously extending groove is formed between adjacent inner ribs. The rib tip has at regular intervals recurring elevations which have an essentially frustopyramidal form. The inner ribs are raised in the radial direction on the contour line which is defined by the transitional edge of a rib flank to the rib tip and protuberances advancing out of the rib flank are formed in this region. Furthermore, the invention relates to a method for producing a heat exchanger tube.

Abstract: In a method for joining a functional element with a metal sheet, with the functional element having an attachment part for attachment of a structure to the metal sheet, a cold forming process employed for the metal sheet is also used to mark the metal sheet with a sink mark by which a joining position of the metal sheet with the functional element is indicated. After the functional element is joined with the metal sheet at the joining position, the joining position is checked with respect to a position of the functional element inside of the sink mark.

Abstract: A workpiece convey system comprising two conveyor devices which alternately convey workpieces from a source area to a destination area, wherein each of the two conveyor devices is provided with a workpiece holding part which can hold a workpiece, and a movement mechanism which moves the workpiece holding part back and forth between the source area and the destination area, the two conveyor devices being arranged so as to match the positions where their respective workpiece holding parts are stopped within the source area.

Abstract: The invention concerns a method for the chip-removing generation or machining of internal gear teeth on a workpiece which is rotatable about its rotary axis and radially delimits a free space that extends axially to one side beyond the internally toothed region and whose radial width narrows in the direction of its axial extension in at least one location. An externally toothed tool which is driven in rotary movement about its axis of rotation is brought from the opposite side into rolling engagement with the internally toothed region with the rotary axes crossed at an angle. Through the application of a mechanical force, the chips which are produced in the process and which are subject to a centrifugal force are caused to change their movement in the zone of narrowing width in a manner directed against the origin of the centrifugal force.

Abstract: A knife sharping device for a circular knife contains: a circular body, a circular connecting cover, and a first circular fixing cover. The circular body includes an annular portion and an external wheel, the annular portion has a through hole and a first conical face, the first conical face has a thickness gradually increasing to the outer rim of the annular portion from the central portion of the annular portion, the first conical face also has a plurality of first sharpening tabs equidistantly arranged thereon. The circular connecting cover includes a first side lid and an inserting post, a cross section of which is non-circular. The first circular fixing cover includes a second side lid, a first positioning member, and a first pressing loop; wherein a cross section of the first positioning member is non-circular, and the first positioning member has a first orifice defined thereon.

Abstract: When decoating a glass panel (3), a decoating tool (6) with a circular-cylindrical grinding element (8) is used, which element is set to rotate around its axis. In the end face of the grinding element (8) that is used when the active face (9) is decoated, a hole (10) and at least one radial groove (11) are provided. The decoating tool (6) is placed at a spot (A) on the glass panel (3) in a movement (arrow 13) that is oriented at an acute angle to the plane of the glass panel (3), which lies between the ends (B) and (C) of the strip-shaped decoating area (14) and moves first to the one end (B) (arrow 15) and then to the other end (C) (arrow 16) in order to strip coating from the glass panel (3) in the decoating area (14).

Abstract: Methods, systems, and devices for lathing parts, including lenses such as ophthalmic lenses. In some embodiments a reference surface is machined into a workpiece. In some embodiments the methods include machining first and second surfaces of a lens so that they have the same centerlines.

Abstract: In order, in a drill tip (2) which is provided particularly for a modular drilling tool, to generate a ridge (18) with supporting chamfers (26, 28) in a simple way, a non-round grinding method is provided, in which, proceeding from a starting rotary position (30) which corresponds to a cutting corner position, the radius is first reduced and is subsequently increased again to form the supporting chamfer (28). There is therefore no need for a separate grinding step to form the supporting chamfers (26, 28). The supporting chamfers (26, 28) preferably extend parallel to the longitudinal mid-axis (22) in the axial direction (24) and intersect coiled chucking grooves (26).

Abstract: The invention discloses an abrasive belt polishing finisher in the field of mechanical technology, which addresses inconvenient operation of the existing polishing finishers. The abrasive belt polishing finisher includes a motor and a connection support. The central section of the connection support is fixedly connected with the output shaft of the motor. Several self-rotable connection support finishing wheels are provided around the connection support. The curve surface of the rim of each of the support finishing wheels has a different curvature. Each connection support finishing wheel is distributed on the same circle centered on the output shaft of the motor. The connection support is driven by the motor into rotation to press and position one of the connection support finishing wheels against the back of the abrasive belt in the polishing finisher. The abrasive belt polishing finisher could satisfy continuous polishing treatment for different curved surfaces.

Abstract: Disclosed herein are systems and methods for polishing internal surfaces of apertures in semiconductor processing chamber components. A method includes providing a ceramic article having at least one aperture, the ceramic article being a component for a semiconductor processing chamber. The method further includes polishing the at least one aperture based on flowing an abrasive media through the at least one aperture of the ceramic article, the abrasive media including a polymer base and a plurality of abrasive particles.

Abstract: Methods for finishing a component include providing the component comprising one or more interior surfaces fluidly connected to one or more exterior surfaces, providing a plurality of magnetic particles, and applying a magnetic field so as to repeatedly move the magnetic particles against the interior surfaces and exterior surfaces of the component.

Abstract: A tool for use during the abrasive flow polishing of an airfoil cluster in an abrasive flow machine is described. The tool may comprise a body and prongs extending from the body. Each prong of the tool may be configured to insert between an adjacent pair of airfoils of the airfoil cluster to create at least one channel therebetween. The channel may allow the flow of an abrasive media therethrough.

Abstract: A method of chemical mechanical polishing a substrate is provided, comprising: providing a polishing machine having a platen; providing a substrate, wherein the substrate has an exposed silicon oxide surface; providing a chemical mechanical polishing pad, comprising: a polyurethane polishing layer; wherein the polyurethane polishing layer composition exhibits an acid number of ?0.5 mg (KOH)/g; providing an abrasive slurry, wherein the abrasive slurry comprises water and a ceria abrasive; creating dynamic contact at an interface between the chemical mechanical polishing pad and the substrate; and, dispensing the abrasive slurry onto the polishing surface of the polyurethane polishing layer of the chemical mechanical polishing pad at or near the interface between the chemical mechanical polishing pad and the substrate; and, polishing the substrate.

Abstract: A chemical mechanical polishing pad is provided containing: a polyurethane polishing layer having a composition and a polishing surface; wherein the polyurethane polishing layer composition exhibits an acid number of ?0.5 mg (KOH)/g; wherein the polishing surface is adapted for polishing a substrate; and, wherein the polishing surface exhibits a conditioning tolerance of ?80%.

Abstract: A method of producing a carrier for use in a double-side polishing apparatus, the method including engaging an insert with a holding hole formed in a carrier body and sticking the insert to the holding hole, the carrier body being configured to be disposed between upper and lower turn tables to which polishing pads are attached of the double-side polishing apparatus, the holding hole being configured to hold a wafer during polishing, the insert being configured to contact an edge of the wafer to be held, the method including: performing a lapping process and a polishing process on the insert; engaging the insert subjected to the lapping process and the polishing process with the holding hole of the carrier body; and sticking and drying the engaged insert while applying a load to the insert in a direction perpendicular to main surfaces of the carrier body.

Abstract: The rotation support bar (2) of a grinding tool (1) has a bendable hinge section (4) at the intermediate section thereof, and has a balancer (5) on the grinding stone tip (3) side. The hinge section (4) comprises two or more opposed pairs of grooves (4a) which have circular arc-shaped bottom surfaces and which are provided in the outer peripheral surface of the rotation support bar (2) so as to extend in the direction perpendicular to the axial direction of the rotation support bar (2). The grooves (4a) are provided at equal angular intervals.

Abstract: A particle blast apparatus transport is capable of generating granular sized particles and delivering them without substantial storage to a single hose feeder assembly. The apparatus is configured to be used with solid blocks of cryogenic material, such as carbon dioxide, and with individual pellets of such material.

Abstract: A superabrasive compact and a method of making the superabrasive compact are disclosed. A method of making a superabrasive compact comprises steps of providing a plurality of superabrasive particles having a particle size distribution with a first ratio (d50)/(d50 principle particles) ranging from about 0.86 to about 0.92; providing a support to the plurality of superabrasive particles; and subjecting the support and the plurality of superabrasive particles to conditions of an elevated temperature and pressure suitable for producing the polycrystalline superabrasive compact.

Abstract: An abrasive article including a core including an organic material and a first bonded abrasive body integrally bonded directly to the core, the first bonded abrasive body having abrasive particles contained within a bond material and the abrasive article having a bonding factor of at least about 60%.

Abstract: An abrasive segment can include an inner segment portion, an outer segment portion, and a central segment portion connected thereto. The inner segment portion can include an inner circumferential wall and an outer circumferential wall. Leading and trailing radial sidewalls can extend between the inner circumferential wall and the outer circumferential wall opposite each other. The outer segment portion can include an inner circumferential wall and an outer circumferential wall. Leading and trailing radial sidewalls can extend between the inner circumferential wall and the outer circumferential wall opposite each other. The central segment portion can include a leading radial sidewall and a trailing radial sidewall. The leading radial sidewall of the central segment portion can establish an acute angle, ?, with respect to the outer circumferential wall of the inner segment portion and an obtuse angle, ?, with respect the inner circumferential wall of the outer segment portion.

Abstract: A detachable blocking device, in particular on a clamping tool, having a blocking element, which blocks the displacement capability of a rod in at least one detachment direction in a blocking position, and a detachment member, which displaces the blocking element into a release position when moved from a default position into a detachment position, in which release position the rod can be displaced at least in the detachment direction. A brake element, in a braking position, acts on the rod so that the rod can only be displaced after neutralization of a braking force acting against the displacement direction of the rod, which braking force does not have to be neutralized in a sliding position of the brake element. The brake element has a brake lever and/or can be brought into its sliding position by pivoting an arm of the detachment member having a detachment lever.

Abstract: A pin clamp for clamping a workpiece includes a housing and a locating pin extending through the housing and having a longitudinal axis. The locating pin is sized to be positioned within an opening of the workpiece. A finger is positioned adjacent to the locating pin and movable in a transverse direction relative to the longitudinal axis to retain the workpiece on the locating pin. A linear actuator is configured to move the locating pin in opposite directions along the longitudinal axis. A locking arrangement is carried by the housing. A sequence cam is connected with the linear actuator in a manner allowing axial movement of the linear actuator to be converted into transverse movement of the sequence cam. The sequence cam includes an engagement surface which engages the locking arrangement to lock the locating pin and the finger against the workpiece upon retraction of the linear actuator.

Abstract: A slip-joint pliers having opposed parallel jaws with a specific cross-hatch pyramidal teeth construction develops a high torque grip slip force on a seized or overly tightened cylindrical workpiece such as a pipe or bar. The pliers includes a tongue in groove type slip-joint construction. The cross-hatch teeth are disposed at between 110° and 150°, and the rows of cross-hatch teeth are spaced at less than about 10 teeth/inch on each jaw face. The pliers are a compact yet heavy-duty use tool that develops a torque grip slip force greater than similarly sized prior art pliers.

Abstract: A hand tool having first and second plier units attached to one another where a jaw region is operatively configured to have a work piece to be placed therein and a handle region is configured to be used by the user of the tool to grasp the work piece. A tension member is provided to be positioned past a dead point axis so as to apply a clamping force upon the jaw member and the hand tool maintains a grip upon the work piece without continuous interaction with the user of the tool.

Abstract: A wrench includes a wrench body provided with a hollow mounting hole which is mounted on a workpiece which has a plurality of outer sides and a plurality of corners. The mounting hole of the wrench body is provided with a plurality of locking edges and a plurality of receiving grooves. Thus, the receiving grooves of the wrench body receive the corners of the workpiece to prevent the wrench body from contacting the corners of the workpiece, so that the corners of the workpiece will not be rubbed when the wrench body drives the workpiece. In addition, the locking edges of the wrench body press and provide a force to drive the outer sides of the workpiece so that the wrench body can be used to drive the workpiece whose corners have been worn out, without producing slip during operation.

Abstract: An infinitely variable speed and multi-functional wrench has a wrench body. The sockets are arranged at two ends of the wrench body. An adjustment screw bolt is arranged on the wrench body. An adjustable wrench support matches with sockets and are separately arranged on two ends of the adjustment screw bolts. An adjustment threaded sleeve is arranged between the adjustment wrench support and the adjustment screw bolt. An adjustable button fixed with the adjustment screw bolt is arranged on the adjustment screw bolt. The spacing between the sockets and the adjustable wrench support can be adjustment with the adjustable button. The diameters of the wrench holes at two ends of the wrench body varies with each other.

Abstract: A uniquely designed torque wrench having a torque body, the torque body attached to a drive head, the drive head entering a contracted stated during extension of a rod of a hydraulic cylinder, and entering an expanded state during the retraction of the rod of a hydraulic cylinder.

Abstract: A hand tool impacting device may include, a drive shaft with an aperture, an impaler disk, and a floating pin positioned within the aperture of the drive shaft. A set of circular ramps on the outer edge of the impaler disk may interact with a stationary pin insert to translate the drive shaft and create an impacting motion. A pair of springs placed against either side of the floating pin may allow a specialized tool bit to engage or disengage the impaler disk, thereby allowing selective use of translational impacting motion, or rotational torque. An impact bit for engaging the impaler disk may include, a tool head configured to engage a work piece and a tool shaft configured to be inserted into a hollow drive shaft to engage a floating pin. According to one embodiment, the impact bit includes a number of sleeves to guide the tool head during operation.

Abstract: A driving head-changeable tool is provided, comprising an outer sleeve and an inner sleeve. The outer sleeve has an end peripheral edge and a non-circular circumferential inner wall. The end peripheral edge is formed with corner portions and blocking flanges. The inner sleeve has a non-circular circumferential outer wall. The inner sleeve is rotatably sleeved by the outer sleeve and has a first connecting end along a central axis. An inner wall of the first connecting end is formed with concaves extending axially. The non-circular circumferential inner and outer walls are nonrotatably abutted against each other. As viewed in an axial direction, each concave overlaps with one the blocking flange. When a driving head is inserted in the inner sleeve and the outer sleeve and the inner sleeve come close to each other, the driving head is blocked by the blocking flanges.

Abstract: An apparatus for rapid installation of threaded fasteners is provided. The apparatus includes a drive portion configured for being received by a rotary tool, a bit holder extending from the drive portion and configured for receiving a tool bit, the bit holder defining an elongate portion, and a sleeve configured for translatable movement along the elongate portion. The sleeve has a first extended position in which an end of the sleeve extends substantially beyond the tool bit and a retraction position in which the sleeve does not enclose the tool bit. A spring biases the sleeve into the extended position. Pressing of an end of the sleeve against a working surface imparts translation of the sleeve in a direction from the extended position towards the retracted position.

Abstract: A torque wrench having a transparent window illumination structure includes a torque wrench main body. The outer surface of the torque wrench main body has at least one window. A torque indicator is provided corresponding in position to the window. An illuminating member is disposed at an end of the torque indicator opposite to the window. The illuminating member is electrically connected with a control unit. When the illuminating member illuminates, the light from the illuminating member will first pass through the indication portion and then the window. Under an inadequate lighting environment, through the window, the user can watch the indication portion clearly to know the present setting torque value of the torque wrench.

Abstract: A torque wrench with a reflection-type viewing window illumination structure in the present invention includes a wrench body having an outer surface bored with a viewing window provided therein with an indicating member. A luminous member is installed at a location adjacent to the viewing window, and a control unit is electrically connected with the luminous member. Thus, the luminous member can be started by the control unit to carry out illumination toward the interior of the viewing window for lighting up the indicating member so as to enable a user to clearly read the indicating member in an environment of insufficient light and really know the torsion value that the wrench body sets at the very moment.

Abstract: The durability of the driver is further improved. The nail driver for driving a nail into a material to be driven includes: a plunger moved in a first direction parallel to a driving direction of the nail by bias caused by a coil spring and moved in a second direction opposite to the first direction against the bias of the coil spring (25); and a weight moved in the second direction by bias caused by a coil spring and moved in the first direction against the bias of the coil spring. The weight (24) is moved in the second direction when the plunger is moved in the first direction and is moved in the first direction when the plunger is moved in the second direction, and the plunger and the weight are moved in the first direction and the second direction so as to be independent from each other.

Abstract: A device for monitoring pressure within a gas space, which is filled with gas, preferably nitrogen, and/or is prestressed, of a pressure accumulator of a hydraulically driven percussive mechanism having a housing in which a piston is mounted, together with a display element which extends through the face surface of the housing, so as to be slidingly movable counter to the force of a spring, wherein the piston divides the housing into a pressure chamber and a spring chamber. The spring acts on a spring chamber-side working surface of the piston, and the pressure accumulator is at least indirectly operatively connected to the pressure chamber-side working surface of the piston, such that, in the event of a critical pressure within the pressure accumulator being undershot, the piston and the display element are displaced to such an extent that the display element protrudes out of the housing.

Abstract: A device for monitoring the pressure within a gas space, which is filled with a gas, preferably nitrogen, and/or is prestressed, of a pressure accumulator of a hydraulically driven percussive mechanism, in particular of a demolition hammer or of a drilling hammer, having a housing in which a piston is mounted, together with an indicator element which extends through the face surface of the housing, in slidingly movable fashion. The piston divides the housing into two chambers, and a first, pressure accumulator-side chamber and a pressure accumulator-side working surface, which is averted from the indicator element, of the piston are operatively connected at least indirectly to the gas space of the pressure accumulator. A second, hydraulics-side chamber and a hydraulics-side working surface, facing toward the indicator element, of the piston are connected to the hydraulic system of the percussive mechanism.

Abstract: A tool holder for a power tool comprising: a body defining a passageway in which a shank of a cutting tool can be located; at least one axial locking element moveably mounted within the body and which is capable of being moved between and held in at least a first release position and a second locking position where it projects into the passageway where it is capable of engagingly a shank of a cutting tool when located within the passageway in order to axially restrict the movement of the shank in the passageway; and at least one axial guide moveably mounted within the body and which can be moved between and held in at least two positions, including one position where it projects into the passageway where it is capable of engagingly supporting a side of a shank of a cutting tool when located within the passageway.

Abstract: A multi-purpose tool operated by a user for storing, opening, cutting, clamping and holding of articles is provided. The multi-purpose tool includes a first shear, a second shear movably coupled to the first shear at a pivot point and a ratchet extending from each finger grip. Each shear includes a finger grip, cutting edges, tines and gripping tips. Further, the multi-purpose tool includes ratchet extending from respective finger grips. Each ratchet having a plurality of ratchet teeth defined therein, the ratchets extending towards each other. The first cutting edge and the second cutting edge are adapted for extending around the article in a firm grip by engagement of the ratchets in order to clamp the article between the first cutting edge and the second cutting edge.

Abstract: A method for controlling an electrical tool having a motor, a transmission mechanism, a control device, and a function member. The motor drives the function member to move in a reciprocating manner via the transmission mechanism. The function member has a standard position and the control device controls the motor. The control device at least has an associated position sensor capable of detecting a position of the function member. The method for controlling the electrical tool includes at least a reset movement process that is used to reset the function member to the standard position after the function member completes more than one cycle of reciprocating movement.

Abstract: A torsion output tool has a housing, a motor and a transmission assembly. The transmission assembly includes a first planetary gear train. The first planetary gear train has a first planetary gear carrier, a first level planetary gear, a first inner ring gear disposed outside the first level planetary gear and meshing therewith, and a first central wheel sliding in a direction of a first axis to a first position and a second position. The transmission assembly further has a locking member. The locking member slides synchronously with the first central wheel and only locks the relative circumferential positions of the output shaft and the first planetary gear carrier when the first central wheel is at the first position and only constitutes circumferential engagement with the first planetary gear carrier when the first central wheel is at the second position to achieve a drilling mode and an impact mode of operation for the tool.

Abstract: A housing device for a hand-held power tool includes at least one receiving interface configured to receive a battery unit. The at least one receiving interface is further configured to receive a mains power connection unit as an alternative to the battery unit.

Abstract: Disclosed is a device for angularly precise machining of a workpiece (9) by a tool (3) guided on a guide rail (2), wherein the tool may be, in particular, an electrically-operated hand tool such as a router or circular saw, etc.

Abstract: A robotic system for performing surface finishing processes on a large object, is provided, the system includes at least one platform having a connected robot, the robot performing a surface finishing process on the large object. Also included is an automatic guided vehicle (AGV) separable of the platform movable independent of the platform for moving under the platform, lifting up the platform and moving the platform multiple locations along or around the large object to extend a useful working envelope of the robot.

Abstract: A teaching system according to embodiments includes a data acquiring unit and a job generating unit. The data acquiring unit acquires data including an initial attitude of a tool, a final attitude of the tool, a rotation center axis of a handled object, and a rotation angle of the handled object about the rotation center axis, in a robot that performs an operation of holding and rotating the handled object with the tool. Based on the data acquired by the data acquiring unit, the job generating unit generates a job program that operates the actual robot so that the tool is brought into the initial attitude, and then brought into the final attitude after the handled object is rotated by the rotation angle about the rotation center axis.

Abstract: A control system includes a force sensor that has a mechanical mechanism (e.g., an end effector) and N (N is an integer equal to or more than two) triaxial force sensor units, acquires unit output values to which values resulting from the mechanical mechanism have been added from the respective triaxial force sensor units of the N triaxial force sensor units, and outputs force sense values based on the unit output values, a force sense value corrector that corrects the force sense values based on the force sense values output by the force sensor, and a controller that performs control of mechanical equipment (e.g., a robot) including the mechanical mechanism based on the force sense values corrected in the force sense value corrector.

Abstract: An offline teaching device has a calculation unit which calculates a second position of a second tool on a work line which is separated by a predetermined distance from a first position of a first tool on the work line, calculates a workpiece position where the first tool in the first position contacts or adjoins the workpiece, and calculates a workpiece position and posture such that the second tool in the second position contacts or adjoins the workpiece by changing the posture of the workpiece from the workpiece position with respect to the first tool, while maintaining the work posture of the first tool, and has a generation unit which generates a robot teaching position based on the position and posture of the workpiece and the holding position of the workpiece, and generates a program such that the first tool and the second tool pass along the work line.

Abstract: A method and apparatus for haptic hard surface emulation using a dynamic physical constraint are provided. The movement and position of the dynamic physical constraint is actively controlled in order to emulate a hard surface. The dynamic physical constraint may be controlled by a computer. In another aspect of the invention, the dynamic physical constraint limits the motion of a manipulator joint in space. The position at any time of the dynamic physical constraint is dependent on the position in space of the manipulator's end effector.