Boots – shoes – and leggings
Patent
1989-06-12
1992-09-15
Lall, Parshotam S.
Boots, shoes, and leggings
33608, 33503, G01D 2100
Patent
active
051483777
DESCRIPTION:
BRIEF SUMMARY
PRIOR ART
Coordinates have long been measured by devices that are little more than a collection of rulers held in convenient relative positions and movable one relative to another with restricted degrees of freedom. In some cases the measurements have been made electronically but accurate readings have necessitated very accurate and therefore expensive constructions which have needed to be very rigid and carefully maintained.
DISCLOSURE OF INVENTION
According to one broad form the present invention provides a coordinate measuring system comprising a device including a plurality of rigid members joined each to another providing a mechanical linkage which has a base end adapted to be fixed relative to an article to be measured and a measurement end movable three-dimensionally about the base end, and measuring signal means producing electrical signals indicative of the relative position or orientation of respective adjoining pairs of rigid members and processing means receiving said signals and calculating therefrom respective three-dimensional coordinate outputs corresponding to the respective positions of the measurement end relative to datum axes fixed relative to the base end and wherein the processing means is correction programmed after assembly of the device so as to electronically correct physical device inaccuracies when calculating said coordinate outputs.
Preferably the plurality of rigid arms comprises first and second arms hinged one to another about a rotational first axis, a third arm secured at a free end of the second arm for translational movement relative thereto along a third axis approximately parallel to the rotational first axis and the first arm being rotatable about the base end about a rotational second axis approximately parallel to the rotational first axis and the physical inaccuracies corrected by the processing means when calculating coordinate outputs include misalignments of the first, second and third axes.
Preferably each signal means is a rotary encoder which produces a pulse for each given angular movement through which the encoder is rotated, the processing means algebraically summing the pulses for each respective encoder and maintaining a set of summed pulsed values, the current set of summed pulsed values representing relative angular displacements of the first arm and the base, second arm and first arm and relative translational displacement of the third arm and second arm, and on demand initiated by a device user the set of summed pulsed values is electronically processed by a mathematical operation by the processing means so as to transform the angular and displacement values into cartesian measured coordinates, the mathematical operation including a transformation mathematically based on a device of predetermined dimensions and exact assembly modified by a current set of error correction terms programmed into the processing means after its assembly and correcting physical device inaccuracies.
Preferably the processing means includes a microprocessor held on board the device and a computer connected thereto for information transfer therewith, the microprocessor maintaining controlled operation of the encoders, receiving encoder pulses and maintaining the set of summed pulsed values, and providing upon request from the computer the current set of summed pulsed values. The computer, as well as carrying out the various mathematical and storage functions required by the system, allows for control inputs to be made by a user of the system.
Preferably the computer maintains current error correction terms and applies the mathematical operation transforming the set of summed pulsed values into measured coordinates.
Preferably the system is correction programmed by a computerized error correction procedure which; receives from said processing means a set of said measured coordinates obtained by measuring the location of respective points, each said measured coordinate belonging to a group of at least two said measured coordinates for which there exists a corresponding kn
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Lall Parshotam S.
Melnick S. A.
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