AMENDED CLAIMS received by the International Bureau on 11 March 2024 (11 .03.2024)

Replacement Claims for Amendment Under Article 19 PCT

1. A vehicle component balancing robot apparatus for on vehicle balancing of one or more of a tire, a wheel, bearings, brake components, and vehicle components that impart vibrations to the vehicle, the apparatus comprising: a frame arranged so as to connect with the vehicle; and a robot connected to the frame, the robot having at least one degree of freedom so as to move, in the at least one degree of freedom, relative to the frame, and is configured so that the move, relative to the frame in the at least one degree of freedom, resolves a predetermined location of a tire- wheel assembly of the vehicle relative to a reference frame of the robot; wherein the robot has at least one end effector arranged to interface the tire-wheel assembly and the robot moves the at least one end effector to other predetermined locations on a wheel rim of the tire- wheel assembly, determined based on resolution of the predetermined location of the tire-wheel assembly relative to the reference frame of the robot.

2. The apparatus of claim 1 , wherein the predetermined location determines a frame of reference of the tire-wheel assembly relative to the reference frame of the robot.

3. The apparatus of claim 1, wherein the other predetermined locations on the wheel rim are wheel balancing weight locations resolving imbalance of the one or more of the tire, the wheel, the bearings, the brake components, and the vehicle components that impart vibrations to the vehicle.

4. The apparatus of claim 1 , wherein the at least one end effector interfaces the tirewheel assembly at the other predetermined locations so as to effect a balancing solution of the one or more of the tire, the wheel, the bearings, the brake components, and the vehicle components that impart vibrations to the vehicle via robotic application of wheel balancing weights with the at least one end effector.

AMENDED SHEET (ARTICLE 19) 5. The apparatus of claim 1, wherein the robot has a driven actuator, driven so as to extend in the at least one degree of freedom between a retracted position and an extended position, the extended position locating the at least one end effector proximate the tire-wheel assembly.

6. The apparatus of claim 5, wherein the actuator has an indexer arranged to index the at least one end effector, in the at least one degree of freedom, and position the at least one end effector at different index positions corresponding to wheel balancing weight locations on the wheel rim.

7. The apparatus of claim 1, wherein the indexer has an index position that places the at least one end effector in contact with the wheel rim determining a rim location on the wheel rim, of the tire-wheel assembly mounted on the vehicle.

8. The apparatus of claim 1, wherein the at least one end effector has a wheel balancing weight grip, and a resiliently compliant wheel balancing weight applicator.

9. The apparatus of claim 1, further comprising one or more sensors configured to resolve the predetermined location of the tire-wheel assembly relative to the reference frame of the robot.

10. The apparatus of claim 12, wherein the one or more sensors includes a proximity sensor coupled to the at least one end effector, where the robot moves the proximity sensor to iteratively contact a side of the tire-wheel assembly and effect determination of an inner lip location of the tire-wheel assembly.

11. The apparatus of claim 1 , further comprising a wheel balancing weight dispenser connected to the frame, the wheel balancing weight dispenser includes a wheel weight transport configured to convey and position wheel balancing weights at an interface location where the robot picks the wheel balancing weights from the wheel weight transport.

AMENDED SHEET (ARTICLE 19) 12. A vehicle component balancing method for on vehicle balancing of one or more of a tire, a wheel, bearings, brake components, and vehicle components that impart vibrations to the vehicle, the method comprising: providing a vehicle component balancing robot apparatus for on vehicle balancing of the one or more of the tire, the wheel, the bearings, the brake components, and the vehicle components that impart vibrations to the vehicle, the vehicle component balancing robot apparatus having a frame arranged so as to connect with the vehicle; resolving a predetermined location of a tire-wheel assembly of the vehicle relative to a reference frame of a robot by moving the robot relative to the frame in at least one degree of freedom, where the robot is connected to the frame and has the at least one degree of freedom; interfacing at least one end effector of the robot with the tire-wheel assembly; and moving, with the robot, the at least one end effector to other predetermined locations on a wheel rim of the tire- wheel assembly, determined based on resolution of the predetermined location of the tire-wheel assembly relative to a reference frame of the robot.

13. The method of claim 12, wherein the predetermined location determines a frame of reference of the tire-wheel assembly relative to the reference frame of the robot.

14. The method of claim 12, wherein the other predetermined locations on the wheel rim are wheel balancing weight locations resolving imbalance of the one or more of the tire, the wheel, the bearings, the brake components, and the vehicle components that impart vibrations to the vehicle.

15. The method of claim 12, wherein the at least one end effector interfaces the tirewheel assembly at the other predetermined locations so as to effect a balancing solution of the one or more of the tire, the wheel, the bearings, the brake components, and the vehicle components

AMENDED SHEET (ARTICLE 19) 251 that impart vibrations to the vehicle via robotic application of wheel balancing weights with the at least one end effector.

16. A vehicle component balancing robot apparatus for on vehicle balancing of one or more of a tire, a wheel, bearings, brake components, and vehicle components that impart vibrations to the vehicle, the apparatus comprising: a frame arranged so as to connect with the vehicle; and a robot connected to the frame at a proximal end of the robot, and the robot has a distal end, opposite the proximal end, the distal end being arranged so as to interface with a tirewheel assembly of the vehicle; wherein the robot has an indexer that indexes the distal end between a retracted position and at least one extended position, wherein in the at least one extended position the distal end interfaces the tire-wheel assembly determining a rim location of the wheel rim of the tire wheel assembly and predetermined locations so as to effect a balancing solution of the one or more of the tire, the wheel, the bearings, the brake components, and the vehicle components that impart vibrations to the vehicle via robotic application of wheel balancing weights with the distal end.

17. The apparatus of claim 16, wherein the indexer is a multi-index stage indexer, each index stage having at least one index position.

18. The apparatus of claim 17, wherein at least one index stage has different index positions that position the interface corresponding to wheel balancing weight locations on the wheel rim so as to effect the balancing solution.

19. The apparatus of claim 16, wherein: the robot has at least one degree of freedom and is configured to move the distal end in the one degree of freedom relative to the frame so that the move resolves another

AMENDED SHEET (ARTICLE 19) predetermined location of the tire- wheel assembly relative to a reference frame of the robot; and the distal end is arranged to interface the tire- wheel assembly and the robot moves the distal end to the predetermined locations on a wheel rim of the tire-wheel assembly, determined based on resolution of the other predetermined location of the tire- wheel assembly relative to the reference frame of the robot.

20. The apparatus of claim 19, wherein the other predetermined location determines a frame of reference of the tire-wheel assembly relative to the reference frame of the robot.

21. The apparatus of claim 19, wherein the predetermined locations on the wheel rim are wheel balancing weight locations resolving imbalance of the one or more of the tire, the wheel, the bearings, the brake components, and the vehicle components that impart vibrations to the vehicle.

22. The apparatus of claim 19, wherein the distal end interfaces the tire- wheel assembly at the predetermined locations so as to effect a balancing solution of the one or more of the tire, the wheel, the bearings, the brake components, and the vehicle components that impart vibrations to the vehicle via robotic application of wheel balancing weights with the distal end.

23. The apparatus of claim 16, wherein the robot has a driven actuator, the driven actuator has the distal end and the actuator is driven so as to extend in at least one degree of freedom of the robot between a retracted position and an extended position, the extended position locating the distal end proximate the tire-wheel assembly.

24. The of claim 23, wherein the actuator has the indexer arranged to index the distal end, in the at least one degree of freedom, and position the distal end at different index positions corresponding to wheel balancing weight locations on the wheel rim.

AMENDED SHEET (ARTICLE 19) 25. The of claim 16, wherein the indexer has an index position that places the distal end in contact with the wheel rim determining a rim location on the wheel rim, of the tire-wheel assembly mounted on the vehicle.

26. The of claim 16, wherein the distal end has a wheel balancing weight grip, and a resiliently compliant wheel balancing weight applicator.

27. A vehicle component balancing method for on vehicle balancing of one or more of a tire, a wheel, bearings, brake components, and vehicle components that impart vibrations to the vehicle, the method comprising: providing a vehicle component balancing robot apparatus for on vehicle balancing of the one or more of the tire, the wheel, the bearings, the brake components, and the vehicle components that impart vibrations to the vehicle, the vehicle component balancing robot apparatus having a frame arranged so as to connect with the vehicle; and interfacing a distal end of a robot with a tire-wheel assembly of the vehicle, where the robot is connected to the frame at a proximal end of the robot, opposite the distal end; indexing, with an indexer of the robot, the distal end between a retracted position and at least one extended position, wherein in the at least one extended position the distal end interfaces the tire-wheel assembly determining a rim location of the wheel rim of the tire wheel assembly and predetermined locations so as to effect a balancing solution of the one or more of the tire, the wheel, the bearings, the brake components, and the vehicle components that impart vibrations to the vehicle via robotic application of wheel balancing weights with the distal end.

28. The method of claim 27, wherein the indexer is a multi-index stage indexer, each index stage having at least one index position.

AMENDED SHEET (ARTICLE 19) 254

29. The method of claim 28, wherein at least one index stage has different index positions that position the interface corresponding to wheel balancing weight locations on the wheel rim so as to effect the balancing solution.

30. The method of claim 27, wherein: the robot has at least one degree of freedom and moves the distal end in the one degree of freedom relative to the frame so that the move resolves another predetermined location of the tire-wheel assembly relative to a reference frame of the robot; and the distal end is arranged to interface the tire-wheel assembly and the robot moves the distal end to the predetermined locations on a wheel rim of the tire-wheel assembly, determined based on resolution of the other predetermined location of the tire- wheel assembly relative to the reference frame of the robot.

31. A vehicle component balancing method for on vehicle balancing of one or more of a tire, a wheel, bearings, brake components, and vehicle components of a vehicle that impart vibrations to the vehicle, the vehicle having a tire wheel assembly, the tire wheel assembly having an axis of rotation and being rotatable about the axis of rotation, the tire wheel assembly having locations thereon onto which one or more tire balancing weights are selectively affixed to balance the one or more of the tire, the wheel, the bearings, the brake components and the vehicle components that impart vibrations to the vehicle, the one or more tire balancing weights having a respective magnitude, wherein one or more of the tire, the wheel, the bearings, the brake components and the vehicle components that impart vibrations of the vehicle generate one or more imbalance signals when the tire wheel assembly is rotated, the method comprising the steps of: effecting rotation of the tire wheel assembly about its axis of rotation; providing one or more sensors to measure the one or more imbalance signals;

AMENDED SHEET (ARTICLE 19) 255 measuring the one or more imbalance signals with the one or more sensors; determining, based on the measurements of the one or more sensors, the locations on the tire wheel assembly to affix the one or more tire balancing weights and the magnitude of the one or more tire balancing weights to affix to the tire wheel assembly to balance the one or more of the tire, the wheel, the bearings, the brake components and the vehicle components that impart vibrations to the vehicle; and affixing the one or more tire balancing weights to the determined locations on the tire wheel assembly.

32. A vehicle component balancing method as defined by Claim 31 , wherein the step of measuring the one or more imbalance signals with the one or more sensors is conducted during a gradient descent sequence.

33. A vehicle component balancing method as defined by Claim 31 , which further comprises the step of: mounting the one or more sensors to the tire wheel assembly.

34. A vehicle component balancing method as defined by Claim 31 , which further comprises the step of: mounting the one or more sensors to the suspension of the vehicle.

35. A vehicle component balancing method as defined by Claim 31 , which further comprises the steps of: providing a gantry system, the gantry system being mountable to the tire wheel assembly, wherein the one more sensors is mounted to the gantry system; and

AMENDED SHEET (ARTICLE 19) 256 mounting the gantry system to the tire wheel assembly.

36. A vehicle component balancing method as defined by Claim 31 , wherein the one or more sensors is a vision system.

37. A vehicle component balancing method as defined by Claim 31 , wherein the one or more sensors is one or more of a single-axis accelerometer, a multi-axis accelerometer, a inertial measurement unit, a force sensor and a magnetometer.

38. An instrumented tool for performing tire servicing operations, the instrumented tool being one or more of engageable with an end effector of a robotic system and mountable to a frame of the robotic system, the instrumented tool comprising: at least one actuator; a carriage, the at least one carriage being mechanically coupled to a portion of the actuator and being moveable thereon between at least a first position and a second position; a drive, the drive being mechanically engaged with the at least one actuator and effecting the movement of the carriage between the first position and the second position; tooling mounted to the carriage; and one or more sensors, the one or more sensors being mounted to one or more of the at least one actuator, the drive, the carriage and the tooling.

39. An instrumented tool for performing tire servicing operations as defined by Claim 38, wherein the actuator is a linear actuator.

40. An instrumented tool for performing tire servicing operations as defined by Claim 38, wherein the tooling is one of a tire bead breaker tool, a tire alignment tool, a wheel weight

AMENDED SHEET (ARTICLE 19) 257 installation tool, a wheel weight dispenser, a wheel weight gripper, a valve core installation tool, a valve core removal tool, a wheel cleaning tool, a valve stem tool, a valve stem cap removal tool, a tire deflation tool, a tire mount/dismount tool, a lubrication tool, an inflation tool, a gripper system, a bead tool, a tire balancer, a tire balancing bead dispenser, a lug wrench and a wheel assembly grip.

41. An instrumented tool for performing tire servicing operations as defined by Claim 38, wherein at least one of the one or more sensors is one of a proximity sensor, a distance sensor, a force sensor, a travel sensor and a limit sensor.

42. A gripper system for manipulating a tire wheel assembly to perform tire servicing operations, the tire wheel assembly having an axis of rotation and being rotatable about its axis of rotation, the gripper system being one or more of engageable with an end effector of a robotic system and mountable to a frame of the robotic system, the gripper system comprising: one or more grippers that are engageable with at least a portion of the tire wheel assembly; at least one actuator, the one or more grippers being mechanically coupled to a portion of the actuator; and at least one drive, the at least one drive being mechanically engaged with the at least one actuator and effecting the movement of the one or more grippers in at least a first direction and a second direction, the first direction being towards the tire wheel assembly and the second position being away from the tire wheel assembly.

43. A gripper system as defined by Claim 42, which further comprises: at least one drive assembly having a drive motor; wherein each gripper of the one or more grippers has an axis of rotation;

AMENDED SHEET (ARTICLE 19) 258 wherein at least one of the one or more grippers is operatively coupled to the at least one drive assembly to effect rotation of the at least one gripper about its axis of rotation upon actuation of the drive motor.

44. A gripper system as defined by Claim 43, wherein the drive assembly effects rotation of the one or more grippers about its axis of rotation.

45. A gripper system as defined by Claim 43, wherein the rotation of the one or more grippers about its axis of rotation effects rotation of the tire wheel assembly about its axis of rotation.

46. A sensor system for vehicle balancing of one or more of a tire, a wheel, bearings, brake components, and vehicle components of a vehicle that impart vibrations to the vehicle, the vehicle having a tire wheel assembly, the tire wheel assembly having an axis of rotation and being rotatable about the axis of rotation, wherein one or more of the tire, the wheel, the bearings, the brake components and the vehicle components that impart vibrations of the vehicle generate one or more imbalance signals when the tire wheel assembly is rotated, the sensor system comprising: one or more sensors, the one or more sensors being mechanically coupled to the vehicle, wherein the one or more sensors receive the one or more imbalance signals and measure the one or more imbalance signals; at least one data acquisition unit, the at least one data acquisition unit being in electrical communication with the one or more sensors; and one or more of a gripper system and a roller system, the one or more of the gripper system and the roller system effecting rotation of the tire wheel assembly about its axis of rotation.

AMENDED SHEET (ARTICLE 19) 259

47. A sensor system for vehicle balancing as defined by Claim 46, wherein the one or more sensors is one or more of a single-axis accelerometer, a multi-axis accelerometer, a inertial measurement unit, a force sensor and a magnetometer.

48. A sensor system for vehicle balancing as defined by Claim 46, wherein the one or more sensors is a vision system.

49. A sensor system for vehicle balancing as defined by Claim 46, which further comprises a gantry system, the gantry system being mounted to the tire wheel assembly, wherein the one or more sensors is mounted to the gantry system.

50. A sensor system for vehicle balancing as defined by Claim 46, wherein the one or more sensors is situated within a tire pressure monitoring system assembly, which is mounted to a portion of the tire wheel assembly.

51. A tooling system for performing tire servicing operations, the tooling system comprising: at least one actuator, the at least one actuator being one or more of engageable with an end effector of a robotic system and mountable to the robotic system; at least one carriage, the at least one carriage being operatively coupled to a portion of the at least one actuator and being moveable thereon between at least a first position and a second position; at least one drive, the at least one drive being engageable with the at least one actuator and effecting the movement of the at least one carriage between the first position and the second position; and tooling, the tooling being mountable to the at least one carriage.

AMENDED SHEET (ARTICLE 19) 260

52. A tooling system for performing tire servicing operations as defined by Claim 51, which further comprises: one or more sensors, the one or more sensors being mounted to one or more of the at least one actuator, the at least one carriage, the at least one drive and the tooling.

53 A tooling system for performing tire servicing operations as defined by Claim 52, wherein at least one of the one or more sensors are one or more of a proximity sensor, a distance sensor, a force sensor, an optical sensor, a vision sensor and a limit sensor.

54. A tooling system for performing tire servicing operations as defined by Claim 51, wherein the tooling mounted to the at least one carriage includes one or more of a tire bead breaker tool, a tire alignment tool, a wheel weight installation tool, a wheel weight dispenser, a wheel weight gripper, a valve core installation tool, a valve core removal tool, a wheel cleaning tool, a valve stem tool, a valve stem cap removal tool, a tire deflation tool, a tire mount/dismount tool, a lubrication tool, an inflation tool, a gripper system, a bead tool, a tire balancer, a tire balancing bead dispenser, a lug wrench and a wheel assembly grip.

55. A tooling system for performing tire servicing operations as defined by Claim 51, which further comprises: a plurality of actuators, each actuator of the plurality of actuators being one or more of engageable with an end effector of a robotic system and mountable to the robotic system; a plurality of carriages, each carriage of the plurality of carriages being operatively coupled to a portion of a respective actuator of the plurality of actuators and being moveable thereon between at least a first position and a second position;

AMENDED SHEET (ARTICLE 19) 261 a plurality of drives, each drive of the plurality of drives being engageable with a respective actuator of the plurality of actuators and effecting the movement of the carriage of the respective actuator between the first position and the second position; and tooling, the tooling being mountable to at least one carriage of the plurality of carriages.

56. A tooling system for performing tire servicing operations as defined by Claim 55, wherein the tooling mounted to the at least one carriage of the plurality of carriages includes one or more of a tire bead breaker tool, a tire alignment tool, a wheel weight installation tool, a wheel weight dispenser, a wheel weight gripper, a valve core installation tool, a valve core removal tool, a wheel cleaning tool, a valve stem tool, a valve stem cap removal tool, a tire deflation tool, a tire mount/ dismount tool, a lubrication tool, an inflation tool, a gripper system, a bead tool, a tire balancer, a tire balancing bead dispenser, a lug wrench and a wheel assembly grip.

57. A sensor for balancing components of a vehicle, the sensor comprising one or more of a single-axis accelerometer, a multi-axis accelerometer, an inertial measurement unit, a force sensor and a magnetometer, the sensor being affixable to one or more of the vehicle, a suspension support structure system, a gantry balancing system, a vehicle lift system and a vehicle lift plate system.

58. A sensor as defined by Claim 57, which further comprises: a mount, the mount being mountable to the one or more of the vehicle, the suspension support structure system, the gantry balancing system, the vehicle lift system and the vehicle lift plate system; wherein one or more of the single-axis accelerometer, the multi-axis accelerometer, the inertial measurement unit and the magnetometer of the one or more of a single-axis accelerometer, a multi-axis accelerometer, an inertial measurement unit, a force sensor and a magnetometer is situated on the mount.

AMENDED SHEET (ARTICLE 19) 262

59. A sensor as defined by Claim 57, wherein the vehicle includes at least one tire wheel assembly, wherein the sensor is affixable to the tire wheel assembly.

60. A sensor as defined by Claim 59, wherein the at least one tire wheel assembly includes a tire pressure monitoring system, the tire pressure monitoring system including a tire pressure monitoring system assembly, wherein the sensor is affixable to the tire pressure monitoring system assembly.

61. A sensor as defined by Claim 59, wherein the at least one tire wheel assembly includes a wheel and a tire that is mountable on the wheel, and wherein the sensor is affixable to the wheel of the at least one tire wheel assembly.

62. A sensor as defined by Claim 61, which further comprises: a mount, the mount being mountable to the wheel of the at least one tire wheel assembly; and wherein the one or more of the single-axis accelerometer, the multi-axis accelerometer, the inertial measurement unit and the magnetometer are situated on the mount.

63. A suspension support structure for providing support to a suspension of a vehicle, the suspension support structure comprising: a base; a support arm mechanically coupled to the base, the support arm being engageable with the suspension of the vehicle and exerting a compressive force thereon; and one or more sensors, the one or more sensors being affixed to one or more of the base and the support arm.

AMENDED SHEET (ARTICLE 19) 263

64. A suspension support structure as defined by Claim 63, wherein the base includes a lower portion and an oppositely disposed upper portion, wherein the support arm is mechanically coupled to the upper portion of the base.

65. A suspension support structure as defined by Claim 64, wherein the upper portion of the base includes a support plate and wherein the support arm is mechanically coupled to the support plate.

66. A suspension support structure as defined by Claim 65, which further comprises: one or more guide rods, the one or more guide rods being interposed between the support plate and the support arm; and one or more springs, the one or more springs being disposed around one or more of the one or more guide rods and being interposed at least partially between the support plate and the support arm.

67. A suspension support structure as defined by Claim 66, wherein: the support arm includes a top surface, a bottom surface disposed opposite to the top surface and one or more bores formed at least partially between the top surface and the bottom surface; the one or more guide rods have a first end and an oppositely disposed second end, wherein the first end of the one or more guide rods is affixed to the support plate and the second end of the one or more guide rods is at least partially received within the one or more bores in the support arm and reciprocatingly moveable therein; and the one or more springs bias the support arm outwardly from a top surface of the support plate.

AMENDED SHEET (ARTICLE 19) 264

68. A suspension support structure as defined by Claim 66, wherein: the support plate includes one or more bores formed at least partially through the thickness thereof; the one or more guide rods have a first end and an oppositely disposed second end, wherein the second end of the one or more guide rods is affixed to the support arm and the first end of the one or more guide rods is at least partially received within the one or more bores in the support plate and reciprocatingly moveable therein; and the one or more springs bias the support arm outwardly from a top surface of the support plate.

69. A suspension support structure as defined by Claim 63, which further comprises one or more feet, the one or more feet being affixed to the base.

70. A suspension support structure as defined by Claim 63, wherein the one or more sensors include one or more of a single-axis accelerometer, a multi-axis accelerometer, an inertial measurement unit, a force sensor, a magnetometer and a distance sensor.

71. A suspension support structure as defined by Claim 63, which further comprises: a load screw, the load screw having a first end and an oppositely disposed second end, the first end of the load screw being affixed to the support arm; wherein the one or more sensors include at least one force sensor; wherein the at least one force sensor is affixed to the base; and wherein the second end of the load screw is engaged with the at least one force sensor.

AMENDED SHEET (ARTICLE 19) 265

72. A dynamics modeling system for balancing components of a vehicle, the dynamics modeling system comprising: a controller; an impulse generator, the impulse generator being engageable with the vehicle, the impulse generator being in communication with the controller, the impulse generator generating impulse signals and applying the generated impulse signals to the vehicle, the vehicle outputting an impulse response in response to the applied impulse signals; and one or more sensors, the one or more sensors being in communication with the controller, the one or more sensors measuring the impulse signals generated by the impulse generator and the impulse response output from the vehicle.

73. A dynamics modeling system as defined by Claim 72, wherein the one or more sensors includes at least one distance sensor, wherein the at least one distance sensor is configured to measure the impulse response output from the vehicle.

74. A dynamics modeling system as defined by Claim 72, wherein the one or more sensors includes at least one accelerometer, wherein the at least one accelerometer is configured to measure the impulse response output from the vehicle.

75. A dynamics modeling system as defined by Claim 72, wherein the one or more sensors includes at least one force sensor, wherein the at least one force sensor is configured to measure the impulse response output from the vehicle.

76. A dynamics modeling system as defined by Claim 72, which further comprises: a suspension support structure having a base and a support arm mechanically coupled to the base;

AMENDED SHEET (ARTICLE 19) 266 wherein the impulse generator is affixed to the support arm; and wherein the one or more sensors are affixed to the suspension support structure.

77. A dynamics modeling system as defined by Claim 72, which further comprises: a suspension support structure having a base and a support arm mechanically coupled to the base; wherein the one or more sensors include at least one force sensor, wherein the at least one force sensor is affixed to the support arm of the suspension support structure; wherein the impulse generator is affixed to the at least one force sensor; and wherein the at least one force sensor is configured to measure the impulse response output from the vehicle.

78. A dynamics modeling system as defined by Claim 77, wherein the one or more sensors includes at least one distance sensor, wherein the at least one distance sensor is affixed to the base of the suspension support structure, wherein the at least one distance sensor is configured to measure the impulse response output from the vehicle.

79. A dynamics modeling system as defined by Claim 77, wherein the one or more sensors include at least one accelerometer, wherein the at least one accelerometer is affixed to the support arm of the suspension support structure, wherein the at least one accelerometer is configured to measure the impulse response output from the vehicle.

80. A dynamics modeling system as defined by Claim 72, wherein the impulse generator includes one or more of a solenoid, a motor, a hammer, a pendulum and a linear striker.

AMENDED SHEET (ARTICLE 19) 267

81. A vision-based system for balancing components of a vehicle, the vehicle having a tire wheel assembly, the tire wheel assembly having an axis of rotation, the vision-based system comprising: a vision system, the vision system including one or more vision sensors, the vision system being configured to detect positional changes of the axis of rotation of the tire wheel assembly; and a controller, the controller being in communication with the vision system.

82. A vision-based balancing system as defined by Claim 81, wherein the one or more vision sensors includes one or more of a camera, a structured light sensor, a LiDAR sensor and an infrared sensor or array.

83. A vision-based balancing system as defined by Claim 81, which further comprises: one or more fiducials, wherein one or more of the one or more fiducial is affixed to the vehicle; and wherein the vision system is configured to detect the one or more fiducials.

84. A vision-based balancing system as defined by Claim 83, wherein one or more of the one or more fiducials is affixed to the tire wheel assembly.

85. A vision-based balancing system as defined by Claim 81, which further comprises: a cone, the cone being mountable to the tire wheel assembly and having a hollow portion; and

AMENDED SHEET (ARTICLE 19) 268 a plurality of beads, the plurality of beads being receivable within the hollow portion of the cone, the plurality of beads being moveable to a plurality of locations within the cone; wherein the vision system is configured to detect the locations of the plurality of beads within the cone.

86. A gantry balancing system for detecting imbalances on a vehicle, the vehicle having a tire wheel assembly, the gantry balancing system comprising: at least one mass moving gantry, the at least one mass moving gantry including at least a first mounting arm and a second mounting arm, at least one connecting member extending between and interconnecting the first mounting arm and the second mounting arm, the first mounting arm and the second mounting arm being mountable to the tire wheel assembly of the vehicle, a carriage coupled to the at least one connecting member and being moveable thereon; and one or more sensors configured to detect imbalances on the vehicle.

87. A gantry balancing system as defined by Claim 86, wherein one or more of the one or more sensors is affixed to the carriage of the at least one mass moving gantry.

88. A gantry balancing system as defined by Claim 86, wherein the one or more sensors include one or more of a single-axis accelerometer, a multi-axis accelerometer, a force sensor, an inertial measurement unit, a force sensor, a magnetometer, a distance sensor, a position sensor and a vision sensor.

89. A gantry balancing system as defined by Claim 86, wherein the at least one mass moving gantry further comprises: one or more actuators, the one or more actuators being operatively coupled to the carriage and effecting movement of the carriage on the at least one connecting member.

AMENDED SHEET (ARTICLE 19) 269

90. A gantry balancing system as defined by Claim 86, which further comprises a first mass moving gantry and a second mass moving gantry, each of the first mass moving gantry and the second mass moving gantry being mountable to the tire wheel assembly of the vehicle.

91. A gantry balancing system as defined by Claim 86, wherein the carriage includes at least one bore extending through a longitudinal length thereof into which the at least one connecting member is at least partially received, wherein the carriage is reciprocatingly moveable on the at least one connecting member at least partially between the first mounting arm and the second mounting arm.

92. A roller system for detecting imbalances on a vehicle, the vehicle having a tire wheel assembly, the tire wheel assembly having a wheel and a tire mounted thereto, the roller system comprising: a base; a frame joined to the base; one or more rollers, the one or more rollers having an axis of rotation, the one or more rollers being coupled to the frame and being rotatable on the frame about the axis of rotation of the one or more rollers, the one or more rollers being engageable with the tire of the tire wheel assembly; and at least one force sensor, the at least one force sensor being interposed between and in contact with a portion of the frame and a portion of the base.

93. A roller system as defined by Claim 92, which further comprises: one or more drive motors, the one or more drive motors being operatively coupled to the one or more rollers to rotate the one or more rollers upon actuation of the one or more drive motors.

AMENDED SHEET (ARTICLE 19) 270

94. A robotic system for performing tire servicing operations on a vehicle, the vehicle having a tire wheel assembly, the tire wheel assembly including a wheel and a tire mounted to the wheel, the robotic system comprising: a controller; a robotic apparatus, the robotic apparatus having a frame and being in communication with the controller; a tooling system, the tooling system being mounted to the frame of the robotic apparatus and being selectively engageable with the tire wheel assembly to perform the tire servicing operations; and a sensor system, the sensor system being in communication with the controller, the sensor system including one or more sensors configured to detect vehicular imbalance.

95. A robotic system as defined by Claim 94, wherein the sensor system comprises: a roller system, the roller system engageable with the tire wheel assembly and being configured to rotate the tire wheel assembly, the roller system being in communication with the controller.

96. A robotic system as defined by Claim 94, wherein the tooling system comprises: at least one actuator, the at least one actuator being mounted to the frame of the robotic apparatus; at least one carriage, the at least one carriage being operatively coupled to a portion of the at least one actuator and being moveable thereon between at least a first position and a second position;

AMENDED SHEET (ARTICLE 19) at least one drive, the at least one drive being engageable with the at least one actuator and effecting the movement of the at least one carriage between the first position and the second position; and tooling, the tooling being mountable to the at least one carriage.

97. A robotic system as defined by Claim 96, wherein the tooling system further comprises: one or more sensors, the one or more sensors of the tooling system being mounted to one or more of the at least actuator, the at least one carriage, the at least one drive and the tooling.

98. A robotic system as defined by Claim 97, wherein the one or more sensors of the tooling system is one or more of a proximity sensor, a distance sensor, a force sensor, an optical sensor, a vision sensor and a limit sensor.

99. A robotic system as defined by Claim 96, wherein the tooling mounted to the at least one carriage includes one or more of a tire bead breaker tool, a tire alignment tool, a wheel weight installation tool, a wheel weight dispenser, a wheel weight gripper, a valve core installation tool, a valve core removal tool, a wheel cleaning tool, a valve stem tool, a valve stem cap removal tool, a tire deflation tool, a tire mount/dismount tool, a lubrication tool, an inflation tool, a gripper system, a bead tool, a tire balancer, a tire balancing bead dispenser, a lug wrench and a wheel assembly grip.

100. A robotic system as defined by Claim 96, wherein the tooling system further comprises: a plurality of actuators, each actuator of the plurality of actuators being mountable to the robotic apparatus;

AMENDED SHEET (ARTICLE 19) 272 a plurality of carriages, each carriage of the plurality of carriages being operatively coupled to a portion of a respective actuator of the plurality of actuators and being moveable thereon between at least a first position and a second position; a plurality of drives, each drive of the plurality of drives being engageable with a respective actuator of the plurality of actuators and effecting the movement of the carriage of the respective actuator between the first position and the second position; and tooling, the tooling being mountable to at least one carriage of the plurality of carriages.

101. A robotic system as defined by Claim 100, wherein the tooling mounted to the at least one carriage of the plurality of carriages includes one or more of a tire bead breaker tool, a tire alignment tool, a wheel weight installation tool, a wheel weight dispenser, a wheel weight gripper, a valve core installation tool, a valve core removal tool, a wheel cleaning tool, a valve stem tool, a valve stem cap removal tool, a tire deflation tool, a tire mount/dismount tool, a lubrication tool, an inflation tool, a gripper system, a bead tool, a tire balancer, a tire balancing bead dispenser, a lug wrench and a wheel assembly grip.

102. A robotic system as defined by Claim 94, wherein the one or more sensors includes one or more of a single-axis accelerometer, a multi-axis accelerometer, an inertial measurement unit, a force sensor and a magnetometer, wherein one or more sensor of the one or more sensors is affixable to one or more of the vehicle, a suspension support structure system, a gantry balancing system, a vehicle lift system and a vehicle lift plate system.

103. A robotic system as defined by Claim 102, wherein the one or more sensors further comprise: a mount, the mount being mountable to one or more of the vehicle, the tire wheel assembly, the suspension support structure system, the gantry balancing system, the vehicle lift system and the vehicle lift plate system;

AMENDED SHEET (ARTICLE 19) 273 wherein one or more of the single-axis accelerometer, the multi-axis accelerometer, the inertial measurement unit and the magnetometer of the one or more of a single-axis accelerometer, a multi-axis accelerometer, an inertial measurement unit, a force sensor and a magnetometer are situated on the mount.

104. A robotic system as defined by Claim 94, which further comprises: a suspension support structure for providing support to a suspension of the vehicle, the suspension support structure including a base, a support arm mechanically coupled to the base, the support arm being engageable with the suspension of the vehicle and exerting a compressive force thereon, and one or more sensors, the one or more sensors being affixed to one or more of the base and the support arm.

105. A robotic system as defined by Claim 104, wherein the base includes a lower portion and an oppositely disposed upper portion, wherein the support arm is mechanically coupled to the upper portion of the base.

106. A robotic system as defined by Claim 105, wherein the upper portion of the base includes a support plate and wherein the support arm is mechanically coupled to the support plate.

107. A robotic system as defined by Claim 106, wherein the suspension support structure further comprises: one or more guide rods, the one or more guide rods being interposed between the support plate and the support arm; and one or more springs, the one or more springs being disposed around one or more of the one or more guide rods and being interposed at least partially between the support plate and the support arm.

AMENDED SHEET (ARTICLE 19) 108. A robotic system as defined by Claim 107, wherein: the support arm includes a top surface, a bottom surface disposed opposite to the top surface and one or more bores formed at least partially between the top surface and the bottom surface; the one or more guide rods have a first end and an oppositely disposed second end, wherein the first end of the one or more guide rods is affixed to the support plate and the second end of the one or more guide rods is at least partially received within the one or more bores in the support arm and reciprocatingly moveable therein; and the one or more springs bias the support arm outwardly from a top surface of the support plate.

109. A robotic system as defined by Claim 107, wherein: the support plate includes one or more bores formed at least partially through the thickness thereof; the one or more guide rods have a first end and an oppositely disposed second end, wherein the second end of the one or more guide rods is affixed to the support arm and the first end of the one or more guide rods is at least partially received within the one or more bores in the support plate and reciprocatingly moveable therein; and the one or more springs bias the support arm outwardly from a top surface of the support plate.

110. A robotic system as defined by Claim 104, wherein the suspension support structure further comprises one or more feet, the one or more feet being affixed to the base.

AMENDED SHEET (ARTICLE 19) 111. A robotic system as defined by Claim 104, wherein the one or more sensors of the suspension support structure include one or more of a single-axis accelerometer, a multi-axis accelerometer, an inertial measurement unit, a force sensor, a magnetometer, a distance sensor.

112. A robotic system as defined by Claim 104, wherein the suspension support structure further comprises: a load screw, the load screw having a first end and an oppositely disposed second end, the first end of the load screw being affixed to the support arm; wherein the one or more sensors of the suspension support structure include at least one force sensor; wherein the at least one force sensor is affixed to the base; and wherein the second end of the load screw is engaged with the at least one force sensor.

113. A robotic system as defined by Claim 95, wherein the roller system comprises a base; a frame joined to the base of the roller system; one or more rollers, the one or more rollers having an axis of rotation, the one or more rollers being coupled to the frame of the roller system and being rotatable on the frame of the roller system about the axis of rotation of the one or more rollers, the one or more rollers being engageable with the tire of the tire wheel assembly; and at least one force sensor, the at least one force sensor being interposed between and in contact with a portion of the frame of the roller system and a portion of the base of the roller system.

AMENDED SHEET (ARTICLE 19) 275

114. A robotic system as defined by Claim 113, wherein the roller system further comprises: one or more drive motors, the one or more drive motors being operatively coupled to the one or more rollers to rotate the one or more rollers upon actuation of the one or more drive motors.

115. A robotic system as defined by Claim 94, wherein the sensor system further comprises: a vision system, the vision system including one or more vision sensors, the vision system being configured to detect positional changes of an axis of rotation of the tire wheel assembly, the vision system being in communication with the controller.

116. A robotic system as defined by Claim 115, wherein the one or more vision sensors include one or more of a camera, a structured light sensor, a LiDAR sensor and an infrared sensor or array.

117. A robotic system as defined by Claim 115, wherein the vision system further comprises: one or more fiducials, wherein one or more of the one or more fiducial is affixed to the vehicle; and wherein the vision system is configured to detect the one or more fiducials.

118. A robotic system as defined by Claim 117, wherein one or more of the one or more fiducials is affixed to the tire wheel assembly.

AMENDED SHEET (ARTICLE 19) 276

119. A robotic system as defined by Claim 115, wherein the vision system further comprises: a cone, the cone being mountable to the tire wheel assembly and having a hollow portion; and a plurality of beads, the plurality of beads being receivable within the hollow portion of the cone, the plurality of beads being moveable to a plurality of locations within the cone; wherein the vision system is configured to detect the locations of the plurality of beads within the cone.

120. A robotic system as defined by Claim 94, which further comprises a dynamics modeling system, the dynamics modeling system having an impulse generator, the impulse generator being engageable with the vehicle, the impulse generator being in communication with the controller, the impulse generator generating impulse signals and applying the generated impulse signals to the vehicle, the vehicle outputting an impulse response in response to the applied impulse signals, and one or more sensors, the one or more sensors being in communication with the controller, the one or more sensors measuring the impulse signals generated by the impulse generator and the impulse response output from the vehicle.

121. A robotic system as defined by Claim 120, wherein the one or more sensors of the dynamics modeling system include at least one distance sensor, wherein the at least one distance sensor of the dynamics modeling system is configured to measure the impulse response output from the vehicle.

122. A robotic system as defined by Claim 120, wherein the one or more sensors of the dynamics modeling system includes at least one accelerometer, wherein the at least one accelerometer of the dynamics modeling system is configured to measure the impulse response output from the vehicle.

AMENDED SHEET (ARTICLE 19)

123. A robotic system as defined by Claim 120, wherein the one or more sensors of the dynamics modeling system includes at least one force sensor, wherein the at least one force sensor of the dynamics modeling system is configured to measure the impulse response output from the vehicle.

124. A robotic system as defined by Claim 120, wherein the dynamics modeling system further comprises: a suspension support structure having a base and a support arm mechanically coupled to the base; wherein the impulse generator is affixed to the support arm; and wherein the one or more sensors of the dynamics modeling system are affixed to the suspension support structure.

125. A robotic system as defined by Claim 120, wherein the dynamics modeling system further comprises: a suspension support structure having a base and a support arm mechanically coupled to the base; wherein the one or more sensors of the dynamics modeling system include at least one force sensor, wherein the at least one force sensor is affixed to the support arm of the suspension support structure; and wherein the at least one force sensor is configured to measure the impulse response output from the vehicle.

126. A robotic system as defined by Claim 125, wherein the one or more sensors of the dynamics modeling system include at least one distance sensor, wherein the at least one distance

AMENDED SHEET (ARTICLE 19) 278 sensor is affixed to the base of the suspension support structure, wherein the at least one distance sensor is configured to measure the impulse response output from the vehicle.

127. A robotic system as defined by Claim 125, wherein the one or more sensors of the dynamics modeling system include at least one accelerometer, wherein the at least one accelerometer is affixed to the support arm of the suspension support structure, wherein the at least one accelerometer is configured to measure the impulse response output from the vehicle.

128. A robotic system as defined by Claim 120, wherein the impulse generator includes one or more of a solenoid, a motor, a hammer, a pendulum and a linear striker.

129. A vehicle component balancing method as defined by Claim 31, wherein the rotation of the tire wheel assembly about its axis of rotation if effected by a gripper system, the gripper system having one or more grippers that are engageable with at least a portion of the tire wheel assembly, the one or more grippers having an axis of rotation and being rotatable about its axis of rotation, at least one rotational drive, the at least one rotational drive being operatively coupled to the one or more grippers, the at least one rotational drive effecting rotation of the one or more grippers about its axis of rotation upon actuation of the at least one rotational drive.

130. A vehicle component balancing method as defined by Claim 129, wherein the step of effecting rotation of the tire wheel assembly about its axis of rotation includes the substeps of: engaging one or more of the one or more grippers of the gripper system with the tire wheel assembly; and actuating the at least one rotational drive of the gripper system to rotate the one or more grippers, the rotation of the one or more grippers effecting the rotation of the tire wheel assembly.

AMENDED SHEET (ARTICLE 19) 279

131. A vehicle component balancing method as defined by Claim 31 , wherein the rotation of the tire wheel assembly about its axis of rotation if effected by a roller system, the roller system having one or more rollers that are engageable with at least a portion of the tire wheel assembly, the one or more rollers having an axis of rotation and being rotatable about such axis of rotation, at least one drive, the at least one drive being operatively coupled to the one or more rollers, the at least one drive effecting rotation of the one or more rollers about its axis of rotation upon actuation of the at least one drive.

132. A vehicle component balancing method as defined by Claim 131, wherein the step of effecting rotation of the tire wheel assembly about its axis of rotation includes the substeps of: engaging the one or more rollers of the roller system with the tire wheel assembly; and actuating the at least one drive of the roller system to rotate the one or more rollers, the rotation of the one or more rollers effecting the rotation of the tire wheel assembly.

133. A vehicle component balancing method as defined by Claim 31, wherein the tire wheel assembly rotates about its axis of rotation at an angular velocity, wherein the method further comprises the step of rotating the wheel assembly about its axis of rotation at a constant angular velocity.

134. A vehicle component balancing method as defined by Claim 133, wherein the step of measuring the one or more imbalance signals with the one or more sensors is conducted at least partially during the step of rotating the tire wheel assembly about its axis of rotation at a constant angular velocity.

135. A vehicle component balancing method as defined by Claim 31, wherein the tire wheel assembly rotates about its axis of rotation at an angular velocity, wherein the method

AMENDED SHEET (ARTICLE 19) 280 further comprises the step of rotating the tire wheel assembly about its axis of rotation at a nonconstant angular velocity.

136. A vehicle component balancing method as defined by Claim 135, wherein the step of measuring the one or more imbalance signals with the one or more sensors is conducted at least partially during the step of rotating the tire wheel assembly about its axis of rotation at a non-constant angular velocity.

137. A vehicle component balancing method as defined by Claim 31 , wherein the tire wheel assembly rotates about its axis of rotation at an angular velocity, wherein the method further comprises the step of increasing the angular velocity at which the tire wheel assembly rotates from a first angular velocity to a second angular velocity, the second angular velocity being greater than the first angular velocity, wherein the step of measuring the one or more imbalance signals with the one or more sensors is conducted at least partially during the step of increasing the angular velocity at which the tire wheel assembly rotates from the first angular velocity to the second angular velocity.

138. A vehicle component balancing method as defined by Claim 31, wherein the tire wheel assembly rotates about its axis of rotation at an angular velocity, wherein the method further comprises the step of decreasing the angular velocity at which the tire wheel assembly rotates from a first angular velocity to a second angular velocity, the second angular velocity being less than the first angular velocity, wherein the step of measuring the one or more imbalance signals with the one or more sensors is conducted at least partially during the step of decreasing the angular velocity at which the tire wheel assembly rotates from the first angular velocity to the second angular velocity.

139. A gripper system for manipulating a tire wheel assembly, the tire wheel assembly having an axis of rotation and being rotatable about its axis of rotation, the gripper system comprising:

AMENDED SHEET (ARTICLE 19) 281 a turntable; one or more tracks, the one or more tracks being situated on the turntable; a first gripper base and a second gripper base, each of the first gripper base and the second gripper base being coupled to the one or more tracks and being reciprocatingly movable thereon; a first actuator and a second actuator, the first actuator being operatively coupled to the first gripper base to reciprocatingly move the first gripper base on the one or more tracks upon actuation of the first actuator, the second actuator being operatively coupled to the second gripper base to reciprocatingly move the second gripper base on the one or more tracks upon actuation of the second actuator; and a plurality of grippers, at least one gripper of the plurality of grippers being mounted to the first gripper base and at least one gripper of the plurality of grippers being mounted to the second gripper base.

140. A gripper system as defined by Claim 139, which further comprises: a drive assembly having a drive motor, the drive assembly being operatively coupled to the turntable; wherein the turntable has an axis of rotation; and wherein the at least one drive assembly effects rotation of the turntable about its axis of rotation upon actuation of the drive motor.

141. A gripper system as defined by Claim 139, wherein the turntable is mountable to a frame of a robot.

AMENDED SHEET (ARTICLE 19) 282

142. A gripper system as defined by Claim 139, wherein one or more of the grippers of the plurality of grippers are engageable with the tire of the tire wheel assembly.

143. An instrumented tire pressure monitoring assembly for balancing a vehicle, the vehicle having at least one tire wheel assembly, the at least one tire wheel assembly having a wheel and a tire mounted thereto, the instrumented tire pressure monitoring assembly comprising: a sensor configured to detect imbalances on the vehicle; and electric circuity, the electric circuitry being in communication with the sensor; wherein the sensor includes one or more of a single-axis accelerometer, a multi-axis accelerometer, an inertial measurement unit and a magnetometer; and wherein the instrumented tire pressure monitoring assembly is mountable to the wheel of the at least one tire wheel assembly.

144. A mass moving gantry, which comprises: at least a first mounting arm and a second mounting arm; the first mounting arm and the second mounting arm being mountable to the tire wheel assembly of the vehicle; at least one connecting member, the at least one connecting member extending between and interconnecting the first mounting arm and the second mounting arm; and a carriage, the carriage being coupled to the at least one connecting member and being moveable thereon.

145. A mass moving gantry as defined by Claim 144, wherein the carriage includes at least one bore extending through a longitudinal length thereof into which the at least one

AMENDED SHEET (ARTICLE 19) 283 connecting member is at least partially received, the carriage being reciprocatingly moveable on the at least one connecting member at least partially between the first mounting arm and the second mounting arm.

146. A mass moving gantry as defined by Claim 144, which further comprises: one or more actuators, the one or more actuators being operatively coupled to the carriage and effecting movement of the carriage on the at least one connecting member.

147. A mass moving gantry as defined by Claim 144, which further comprises: one or more sensors, the one or more sensors being affixed to the carriage of the at least one mass moving gantry and being configurable to detect imbalances on the vehicle.

148. A mass moving gantry as defined by Claim 147, wherein the one or more sensors include one or more of a single-axis accelerometer, a multi-axis accelerometer, a force sensor, an inertial measurement unit, a force sensor, a magnetometer, a distance sensor, a position sensor and a vision sensor.

149. A lift system for lifting a vehicle, the lift system comprising: a lift structure, the lift structure having a base, an arm plate and a lifting mechanism, the lifting mechanism being interposed between the arm plate and the base and being mechanically coupled to the arm plate and the base, the lifting mechanism having a lift actuator, the lift actuator being movable between a first position and a second position to effect movement of the arm plate inwardly and outwardly from the base; arm actuators, the arm actuators being mounted to the arm plate; lift arms, the lift arms being operatively coupled to a respective arm actuator of the arm actuators; and

AMENDED SHEET (ARTICLE 19) 284 lift sensors, the lift sensors being mounted on the lift structure.

150. A lift system for lifting a vehicle as defined by Claim 149, which further comprises: lift pads, the lift pads being situated on one or more of the lift arms.

151. A lift system for lifting a vehicle as defined by Claim 149, wherein the lift sensors are mounted to one or more of the lift arms.

152. A lift system for lifting a vehicle as defined by Claim 149, wherein one or more of the lift sensors include one or more of a force sensor, a distance sensor and a proximity sensor.

153. A lift system for lifting a vehicle as defined by Claim 149, wherein the vehicle includes an underside having lifting points, the lift system further comprising: a vision system, the vision system being configured to identify the lifting points on the underside of the vehicle.

154. An instrumented lift plate system for a vehicle lift, the vehicle lift having a lifting structure for raising and lowering a vehicle, the instrumented lift plate system comprising: a lift plate, the lift plate being mountable to the lifting structure of the vehicle lift; arm actuators, the arm actuators being mounted to the lift plate; lift arms, the lift arms being operatively coupled to a respective arm actuator of the arm actuators; and lift sensors, the lift sensors being mounted on one or more of the lift plate, the lift arms and the lifting structure of the vehicle lift.

AMENDED SHEET (ARTICLE 19) 285

155. An instrumented lift plate system as defined by Claim 154, which further comprises: lift pads, the lift pads being situated on one or more of the lift arms.

156. An instrumented lift plate system as defined by Claim 154, wherein one or more of the lift sensors include one or more of a force sensor, a distance sensor and a proximity sensor.

157. An instrumented lift plate system as defined by Claim 154, wherein the vehicle includes an underside having lifting points, the lift system further comprising: a vision system, the vision system being configured to identify the lifting points on the underside of the vehicle.

158. A tire handling system, which comprises: a tire handling stand; one or more tire handling arms, the one or more tire handling arms being coupled to the tire handling stand; and one or more tire handling grippers, the one or more tire handling grippers being mounted to one or more of the one or more of the tire handling arms.

159. A tire handling system as defined by Claim 158, which further comprises: a mounting flange, the mounting flange being coupled to the tire handling stand, the mounting flange having an axis of rotation and being rotatable about its axis of rotation; wherein the tire handling arms are mounted to the mounting flange and extend radially outwardly therefrom.

AMENDED SHEET (ARTICLE 19) 286

160. A tire handling system as defined by Claim 159, which further comprises: a drive, the drive being operatively coupled to the mounting flange to effect rotation of the mounting flange about its axis of rotation.

161. A tire handling system as defined by Claim 160, wherein the drive is mounted to the tire handling stand.

162. A tire handling system as defined by Claim 158, which further comprises: a mounting flange, the mounting flange being coupled to the tire handling stand, the mounting flange having an axis of rotation and being rotatable about its axis of rotation; and one or more actuators, the one or more actuators being mounted to the mounting flange; wherein each tire handling arm of the tire handling arms is operatively coupled to a respective actuator of the one or more actuators to effect movement of the tire handling arm.

163. A tire handling system, which comprises: a tire handling stand, the tire handling stand having a first end and an oppositely disposed second end; a first actuator and a second actuator, the first actuator being mounted to the tire handling stand in proximity to the first end thereof, the second actuator being mounted to the tire handling stand in proximity to the second end thereof; a tire handling arm, the tire handling arm having a first end and an oppositely disposed second end, the first end of the tire handling arm being operatively coupled to the first actuator and the second end of the tire handling arm being operatively coupled to the second actuator; and

AMENDED SHEET (ARTICLE 19) 287 one or more tire handling grippers, the one or more tire handling grippers being mounted to tire handling arm.

164. A gripper system as defined by Claim 43, wherein the one or more grippers has a main body, the main body having a first end and an oppositely disposed second end, the second end of the main body being operatively coupled to the at least one drive system.

165. A gripper system as defined by Claim 42, wherein one or more of the one or more grippers is formed as a bare metal gripper.

166. A gripper system as defined by Claim 42, wherein one or more of the one or more grippers includes a composite coating.

167. A gripper system as defined by Claim 42, wherein one or more of the one or more grippers includes an adhesive coating.

168. A gripper system as defined by Claim 42, wherein one or more of the one or more grippers includes an abrasive coating.

169. A gripper system as defined by Claim 42, wherein the one or more grippers has a main body, the main body having a first end and an oppositely disposed second end, and wherein one or more of the one or more grippers includes a plurality of teeth extending outwardly from at least a portion of the main body.

170. A gripper system as defined by Claim 42, wherein the one or more grippers has a main body, the main body having a first end and an oppositely disposed second end, and wherein one or more of the one or more grippers includes a plurality of lobes extending outwardly from the main body at least partially between the first end and the second end thereof.

171. A gripper system as defined by Claim 42, wherein the one or more grippers has a main body, the main body having a first end and an oppositely disposed second end, and wherein

AMENDED SHEET (ARTICLE 19) 288 one or more of the one or more grippers includes a cam, the cam being eccentrically situated on the first end of the main body and extending outwardly therefrom.

172. A gripper system as defined by Claim 42, wherein the one or more grippers has a main body, the main body having a first end and an oppositely disposed second end, and wherein one or more of the one or more grippers includes a track belt, the track belt being mounted to the first end of the main body.

173. A gripper system as defined by Claim 43, wherein one or more of the one or more grippers comprises: a housing, the housing having an open front end and a back end situated opposite the open front end, and a sidewall extending between the open front end and the back end, the back end and the sidewall of the housing defining a cavity; a plurality of gripper pins, the plurality of gripper pins being at least partially situated in the cavity; and a plurality of gripper springs, the plurality of gripper springs being at least partially situated in the cavity, each gripper spring of the plurality of gripper springs being operatively coupled to a respective gripper pin of the plurality of gripper pins and biasing the respective gripper pin outwardly from the open front end of the housing; wherein the housing of the gripper is coupled to the at least one drive system.

174. A gripper system as defined by Claim 173, wherein at least one gripper pin of the plurality of gripper pins is engageable with at least a portion of the tire wheel assembly.

175. A gripper system as defined by Claim 174, wherein the tire wheel assembly includes a wheel and a tire mounted thereto, wherein the wheel includes a plurality of lug

AMENDED SHEET (ARTICLE 19) 289 positions, wherein the at least one gripper pin of the plurality of gripper pins is engageable with a respective lug position of the plurality of lug positions.

176. A gripper system as defined by Claim 174, wherein the tire wheel assembly includes a wheel and a tire mounted thereto, wherein the wheel includes a plurality of spokes, each spoke of the plurality of spokes being separated from one another by a space, wherein the at least one gripper pin of the plurality of gripper pins is insertable into a respective space between the spokes.

177. A gripper system as defined by Claim 43, wherein at least one of the one or more grippers includes a plurality of lug pins, the plurality of lugs pins being situated on the first end of the main body and extending outwardly therefrom.

178. A gripper system as defined by Claim 177, wherein the tire wheel assembly includes a wheel, a tire mounted to the wheel and a plurality of lugs engaged with the with wheel, wherein at least one of the plurality of lug pins is engageable with a respective lug of the plurality of lugs.

179. A method of balancing a tire- wheel assembly or rotating assembly with the wheel in-situ on the vehicle comprising: Rotating the TWA to a test frequency, using one or more sensors to detect a response to the imbalance forces, bringing the TWA to rest, calculating the location and magnitudes of the imbalances based on the sensor data, calculating the required location and magnitude of the mass(es) required to correct the imbalance, cutting a weight tape to size or selecting a pre-made weight of the correct magnitude, placing the weight(s) onto the correct locations in the TWA.

180. The method of Claim 179 where the TWA is not brought to rest.

181. The method of Claim 179 where multiple iterations of balancing are performed to improve the balancing result.

AMENDED SHEET (ARTICLE 19) 290

182. The method of Claim 179 where the imbalance calculation includes one or more pre-filters on the data (data post-processing) for noise reduction, statistical analysis, or signal amplification.

183. The method of Claim 179 where the imbalance calculation includes one or more filters on the output calculation for statistical analysis and curve fitting.

184. The method of Claim 179 where the sensor signal goes through physical filters such as ferrites or electrical filters.

185. The method of Claim 179 where the sensor signal goes through an electrical amplifier.

186. The method of Claim 179 where a mathematical model is used in the imbalance calculation to estimate the imbalance that produces the sensor data.

187. The method of Claim 179 where the imbalance calculation includes one or more iterations of a simulation to fit an expected simulation result to the sensor data.

188. The method of Claim 179 where the imbalance calculation includes a machine learning calculation.

189. The method of Claim 179 where the imbalance calculation includes the use of a system identification model.

190. The method of Claim 179 where the imbalance calculation includes a correction factor to account for known errors in the calculation or measurement.

191. The method of Claim 179 where during spin up or spin down a frequency sweep is performed to find the ideal frequency for balancing.

AMENDED SHEET (ARTICLE 19) 291

192. The method of Claim 179 where the balancing calculation includes the calculation of imbalance due to nonconcentricity mounting of the tire-wheel assembly on the vehicle.

193. The method of Claim 179 where the balancing calculation includes the calculation of imbalance due to the non-parallelism mounting of the TWA on the vehicle.

194. The method of Claim 179 where the one or more sensors include one or more of a single-axis accelerometer, a multi-axis accelerometer, a inertial measurement unit, a force sensor and a magnetometer.

195. The method of Claim 179 where the imbalance correction mass calculation uses a tolerance to minimize the number of applied weights while achieving acceptable balance.

196. The method of Claim 179 where the weights placed are adhesive weights.

197. The method of Claim 179 where the weights placed are clip-on weights.

198. The method of Claim 179 where more than one TWA is spun at a time.

199. The method of Claim 179 where multiple TWA are spun at different frequencies to aid in the disambiguation of sensor data for each TWA.

200. A method of balancing a tire-wheel assembly or rotating assembly with the wheel in-situ on the vehicle comprising: attaching one or more mass-moving (gantry) robot(s) to the TWA, rotating the TWA to a test frequency, using the moving mass(es) of the mass-moving robot(s) to effect the balancing of the TWA by placing them in a location which cancels or attenuates the inherent imbalance of the rotating assembly.

201. The method of Claim 200 where the mass moving robot masses are passively located such that the centripetal force of the rotating assembly moves the masses naturally to a position in which to cancel or attenuate the imbalance.

AMENDED SHEET (ARTICLE 19) 292

202. The method of Claim 200 where the mass moving robot masses are actively located with one or more actuators.

203. The method of Claim 200 where the mass moving robot may move masses in one or more cartesian directions (x, y, axial (z)).

204. The method of Claim 200 where the mass moving robot may move masses in the polar directions (radial, theta, axial).

205. The method of Claim 200 where the mass moving robot attaches to the outer diameter of the tire.

206. The method of Claim 200 where the MMR attaches to the face of the tire.

207. The method of Claim 200 where the MMR attaches to the face of the wheel.

208. The method of Claim 200 where the MMR attaches to the lugs of the wheel.

209. The method of Claim 200 where the MMR attaches to the rim of the wheel.

210. The method of Claim 200 where the MMR attaches to the spokes of the wheel.

211. The method of Claim 200 where one or more sensors is used to sense imbalance.

212. The method of Claim 200 where the one or more sensors of Claim 211 are affixed to the mass moving robot.

213. A method of changing a tire on a wheel with the wheel in-situ on the vehicle comprising: locating the wheel in space, determining the geometry of the tire and wheel, deflating the tire, breaking the bead bond between the tire and the wheel on both sides of the tire, removing the tire from the wheel, placing the tire on the wheel, inflating the tire to seat the beads into the bead seat on the wheel.

AMENDED SHEET (ARTICLE 19) 293

214. The method of Claim 213 where, after the tire is removed from the wheel, the wheel is cleaned at the tire-wheel interface.

215. The method of Claim 213 where the front edge of the tire is removed past the front edge of the wheel, and then the rear edge of the tire is removed past the front edge of the wheel.

216. The method of Claim 213 where the entire tire is removed in one motion from the wheel.

217. The method of Claim 213 where the tire is lubricated prior to bead breaking to facilitate lowering of friction between the tire and the tool.

218. The method of Claim 213 where the tire is lubricated prior to bead removal to facilitate lowering of friction between the tire and the tool.

219. The method of Claim 213 where the wheel or tire is lubricated prior to the tire being installed on the wheel.

220. A tooling system for performing tire servicing operations as defined by Claim 51, wherein a bead breaker structure is mounted to the at least one carriage.

221. A tooling system for performing tire servicing operations as defined by Claim 51, wherein an alignment arm is mounted to the at least one carriage.

222. A tooling system for performing tire servicing operations as defined by Claim 51, wherein a valve tool arm is mounted to the at least one carriage.

223. A tooling system for performing tire servicing operations as defined by Claim 51, wherein a lubrication arm is mounted to the at least one carriage.

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224. A tooling system for performing tire servicing operations as defined by Claim 51, wherein a cleaning arm is mounted to the at least one carriage.

225. A tooling system for performing tire servicing operations as defined by Claim 51, wherein an inflation arm is mounted to the at least one carriage.

226. A tooling system for performing tire servicing operations as defined by Claim 51, wherein a gripper system is operatively coupled to the at least one carriage.

227. A dynamics modeling system for balancing components of a vehicle, the vehicle having a suspension, the dynamics modeling system comprising: a controller; an impulse generator, the impulse generator being engageable with the suspension of the vehicle, the impulse generator being in communication with the controller, the impulse generator generating impulse signals and applying the generated impulse signals to the suspension of the vehicle, the suspension of the vehicle outputting an impulse response in response to the applied impulse signals; and one or more sensors, the one or more sensors being in communication with the controller, the one or more sensors measuring the impulse signals generated by the impulse generator and the impulse response output from the suspension of the vehicle.

228. A dynamics modeling system as defined by Claim 227, wherein the one or more sensors includes at least one distance sensor, wherein the at least one distance sensor is configured to measure the impulse response output from the suspension of the vehicle.

229. A dynamics modeling system as defined by Claim 227, wherein the one or more sensors includes at least one accelerometer, wherein the at least one accelerometer is configured to measure the impulse response output from the suspension of the vehicle.

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230. A dynamics modeling system as defined by Claim 227, wherein the one or more sensors includes at least one force sensor, wherein the at least one force sensor is configured to measure the impulse response output from the suspension of the vehicle.

231. A dynamics modeling system as defined by Claim 227, which further comprises: a suspension support structure having a base and a support arm mechanically coupled to the base; wherein the impulse generator is affixed to the support arm; and wherein the one or more sensors are affixed to the suspension support structure.

232. A dynamics modeling system as defined by Claim 227, which further comprises: a suspension support structure having a base and a support arm mechanically coupled to the base; wherein the one or more sensors include at least one force sensor, wherein the at least one force sensor is affixed to the support arm of the suspension support structure; wherein the impulse generator is affixed to the at least one force sensor; and wherein the at least one force sensor is configured to measure the impulse response output from the vehicle.

233. A dynamics modeling system as defined by Claim 232, wherein the one or more sensors include at least one distance sensor, wherein the at least one distance sensor is affixed to the base of the suspension support structure, wherein the at least one distance sensor is configured to measure the impulse response output from the vehicle.

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234. A dynamics modeling system as defined by Claim 232, wherein the one or more sensors include at least one accelerometer, wherein the at least one accelerometer is affixed to the support arm of the suspension support structure, wherein the at least one accelerometer is configured to measure the impulse response output from the vehicle.

235. A dynamics modeling system as defined by Claim 227, wherein the impulse generator includes one or more of a solenoid, a motor, a hammer, a pendulum and a linear striker.

236. A gripper system as defined by Claim 166, wherein the one or more grippers includes a tungsten carbide coating.

237. An instrumented tool for performing tire servicing operations, the instrumented tool being one or more of engageable with an end effector of a robotic system and mountable to a frame of the robotic system, the instrumented tool comprising: at least one actuator; a carriage, the at least one carriage being operatively coupled to a portion of the actuator and being moveable thereon between at least a first position and a second position; a drive, the drive being mechanically engaged with the at least one actuator and effecting the movement of the carriage between the first position and the second position; and one or more sensors, the one or more sensors being mounted to one or more of the at least one actuator, the drive and the carriage.

238. An instrumented tool for performing tire servicing operations as defined by Claim 237, wherein the actuator is a linear actuator.

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239. An instrumented tool for performing tire servicing operations as defined by Claim 237, wherein at least one of the one or more sensors is one of a proximity sensor, a distance sensor, a force sensor, a travel sensor and a limit sensor.

240. A vehicle component balancing method as defined by Claim 31 , which further comprises the step of: mounting one or more of the one or more sensors to a portion of a lift system, the lift system being configured the lift the vehicle.

241. A vehicle component balancing method as defined by Claim 240, wherein the lift system comprises: a lift structure, the lift structure having a base, an arm plate and a lifting mechanism, the lifting mechanism being interposed between the arm plate and the base and being mechanically coupled to the arm plate and the base, the lifting mechanism having a lift actuator, the lift actuator being movable between a first position and a second position to effect movement of the arm plate inwardly and outwardly from the base; arm actuators, the arm actuators being mounted to the arm plate; and lift arms, the lift arms being operatively coupled to a respective arm actuator of the arm actuators; wherein one or more of the one or more sensors is mounted on the lift structure.

242. A vehicle component balancing method as defined by Claim 241, wherein the lift system further comprises: lift pads, the lift pads being situated on one or more of the lift arms.

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243. A vehicle component balancing method as defined by Claim 241, wherein one or more of the one or more sensors is mounted to one or more of the lift arms.

244. A vehicle component balancing method as defined by Claim 242, which further comprises the step of: identifying lifting points on an underside of the vehicle; aligning the identified lifting points on the underside of the vehicle with the lifting pads; and moving the arm plate outwardly from the base towards the underside of the vehicle such that the lifting points contact the lifting pads.

245. A vehicle component balancing method as defined by Claim 31 , which further comprises the step of: mounting one or more of the one or more sensors to a portion an instrumented lift plate system for a vehicle lift, the vehicle lift having a lifting structure for raising and lowering the vehicle.

246. A vehicle component balancing method as defined by Claim 245, wherein the instrumented lift plate system comprises: a lift plate, the lift plate being mountable to the lifting structure of the vehicle lift; arm actuators, the arm actuators being mounted to the lift plate; and lift arms, the lift arms being operatively coupled to a respective arm actuator of the arm actuators;

AMENDED SHEET (ARTICLE 19) 299 wherein one or more of the one or more sensors is mounted on one or more of the lift plate, the lift arms and the lifting structure.

247. A vehicle component balancing method as defined by Claim 246, wherein the lift system further comprises: lift pads, the lift pads being situated on one or more of the lift arms.

248. A vehicle component balancing method as defined by Claim 247, which further comprises the step of: identifying lifting points on an underside of the vehicle; aligning the identified lifting points on the underside of the vehicle with the lifting pads; and moving the lift plate towards the underside of the vehicle such that the lifting points contact the lifting pads.

249. A vehicle component balancing method as defined by Claim 31 , which further comprises the step of: applying machine learning algorithms to the measured imbalance signals.

250. A vehicle component balancing method as defined by Claim 31 , which further comprises the step of: applying a model made with system identification to the measured imbalance signals.

251. A vehicle component balancing method as defined by Claim 31 , which further comprises the step of:

AMENDED SHEET (ARTICLE 19) 300 applying a curve-fit algorithm to the measured imbalance signals.

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