CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] The present disclosure claims the benefit under 35 U.S.C. 119 of United States

Provisional Patent Application No. 63/190,120, filed May 18, 2021 and entitled “MECHANISM FOR CURING RETENTION ADHESIVE IN A ROBOTIC ASSEMBLY CELL,” and United States Nonprovisional Patent Application No. 17/747,597, filed May 18, 2022 and entitled “MECHANISM FOR CURING ADHESIVE IN A ROBOTIC ASSEMBLY CELL,” which applications are incorporated by reference herein in their entirety.

BACKGROUND

Field

[0002] The present disclosure relates generally to additive manufacturing, and more specifically to curing adhesives in a robotic assembly cell.

Description of the Related Art

[0003] Three-dimensional (3-D) printing, also referred to as additive manufacturing

(AM), has recently presented new opportunities to more efficiently build complex transport structures, such as automobiles, aircraft, boats, motorcycles, busses, trains, and the like. AM techniques are capable of fabricating complex components from a wide variety of materials. Applying AM processes to industries that produce these products has proven to produce a structurally more efficient transport structure. For example, an automobile produced using 3-D printed components can be made stronger, lighter, and consequently, more fuel efficient. Moreover, AM enables manufacturers to 3-D print components that are much more complex and that are equipped with more advanced features and capabilities than components made via traditional machining and casting techniques. The 3-D objects may be formed using layers of material based on a digital model data of the object. A 3-D printer may form the structure defined by the digital model data by printing the structure one layer at a time.

[0004] 3-D printing is non-design specific, which offers geometric and design flexibility that conventional manufacturing processes cannot. Furthermore, 3-D printing technologies can produce parts with small feature sizes, and geometries that are either significantly difficult or impossible to produce using conventional manufacturing processes.

[0005] Despite these recent advances, a number of obstacles remain with respect to the practical implementation of AM techniques in transport structures and other mechanized assemblies. For instance, regardless of whether AM is used to produce various components of such devices, manufacturers typically rely on labor-intensive and expensive techniques such as welding, riveting, etc., to join components together, such as nodes used in a transport structure. The deficiencies associated with welding and similar techniques are equally applicable to components, such as a vehicle gear case, that are currently too large to 3-D print in a single AM step. A given 3-D printer is usually limited to rendering obj ects having a finite size, often dictated by the available surface area of the 3-D printer’s build plate and the allowable volume the printer can accommodate. In these instances, manufacturers are often relegated to building the component using the traditional, expensive and time-consuming machining techniques. Alternatively, manufacturers may 3-D print a number of subcomponents and combine them to form a complete, functional component.

SUMMARY

[0006] Several aspects of apparatus for additive manufacturing systems and architectures will be described more fully hereinafter with reference to assembly and production of additively-manufactured components.

[0007] An apparatus in accordance with an aspect of the present disclosure comprises a chassis, a gearbox coupled to the chassis, and a radiation head coupled to the gearbox, the radiation head emitting radiation in a direction, wherein the radiation head is moveable with respect to the chassis.

[0008] Such an apparatus further optionally comprises the movement of the radiation head being an angular movement that changes the direction of radiation emitting from the radiation head, the chassis comprising a motor, a shaft coupling coupled between the motor and the gearbox, and a mounting arm coupled between the gearbox and the radiation head.

[0009] Such an apparatus may also optionally include the radiation head comprising a fan, a heat exchanger coupled to the fan, wherein the heat exchanger may be additively manufactured, and a change tool coupled to the chassis, for coupling the apparatus to an arm of a robot. [00010] An apparatus in accordance with an aspect of the present disclosure comprises a chassis including a motor having a shaft, a change tool coupled to the chassis, a mounting arm, a gearbox coupled to the shaft and the mounting arm, for translating rotation of the shaft into movement of the mounting arm, and a radiation head coupled to the mounting arm, the radiation head emitting radiation in a direction, wherein movement of the mounting arm changes the direction of emission of radiation from the radiation head.

[00011] Such an apparatus further optionally includes a controller coupled to the motor, for selectively rotating the shaft of the motor to move the mounting arm, movement of the mounting arm being normal to the direction of emission of radiation, movement of the mounting arm moving the radiation head in an arc, movement of the mounting arm including moving the radiation head about a nominal position, the arc extending from the nominal position in a first direction and a second direction opposite that of the first direction, and movement of the mounting arm including at least one stop location.

[00012] Such an apparatus further optionally includes a shaft coupling coupled between the shaft of the motor and the gearbox, the radiation head comprising a fan, the radiation head further comprising a heat exchanger coupled to the fan, the heat exchanger being additively manufactured, and the change tool coupling the apparatus to an arm of a robot.

[00013] It will be understood that other aspects for adhesive-based part retention features in additively manufactured structures will become readily apparent to those skilled in the art from the following detailed description, wherein it is shown and described several embodiments by way of illustration. As will be realized by those skilled in the art, the apparatus for bridging is capable of other and different embodiments, and its several details are capable of modification in various other respects, without departing from the scope of the disclosure. Accordingly, the drawings and detailed description are to be regarded as illustrative in nature and not as restrictive.

BRIEF DESCRIPTION OF THE DRAWINGS

[00014] Various aspects will now be presented in the detailed description by way of example, and not by way of limitation, in the accompanying drawings, wherein:

[00015] FIGS. 1A-1D illustrate respective side views of a PBF system during different stages of operation in accordance with an aspect of the present disclosure.

[00016] FIG. IE illustrates a functional block diagram of a 3-D printer system in accordance with an aspect of the present disclosure. [00017] FIG. 2 illustrates a perspective view of an example of a fixtureless assembly system in accordance with an aspect of the present disclosure.

[00018] FIG. 3 illustrates a connection at a retention feature between structures in accordance with an aspect of the present disclosure.

[00019] FIG. 4 illustrates a perspective view of an apparatus in accordance with an aspect of the present disclosure.

[00020] FIG. 5 illustrates a top view of an apparatus in accordance with an aspect of the present disclosure.

[00021] FIG. 6 illustrates an exploded view of a mounting arm and radiation head in accordance with an aspect of the present disclosure.

DETAILED DESCRIPTION

[00022] The detailed description set forth below in connection with the drawings is intended to provide a description of embodiments, and it is not intended to represent the only embodiments in which the disclosure may be practiced. The term “exemplary” used throughout this disclosure means “serving as an example, instance, or illustration,” and should not necessarily be construed as preferred or advantageous over other embodiments presented in this disclosure. The detailed description includes specific details for the purpose of providing a thorough and complete disclosure that fully conveys the scope of the disclosure to those skilled in the art. However, the disclosure may be practiced without these specific details. In some instances, well-known structures and components may be shown in block diagram form, or omitted entirely, in order to avoid obscuring the various concepts presented throughout this disclosure.

[00023] Additive Manufacturing

[00024] Additive Manufacturing (AM) involves the use of a stored geometrical model for accumulating layered materials on a build plate to produce a three-dimensional (3-D) build piece having features defined by the model. AM techniques are capable of printing complex components using a wide variety of materials. A 3-D object may be fabricated based on a computer aided design (CAD) model. The CAD model can be used to generate a set of instructions or commands that are compatible with a particular 3-D printer. The AM process can create a solid three-dimensional object using the CAD model and print instructions. In the AM process, different materials or combinations of material, such as engineered plastics, thermoplastic elastomers, metals, ceramics, and/or alloys or combinations of the above, etc., may be used to create a 3-dimensional object. [00025] The use of AM in the context of joining two or more components may provide significant flexibility and cost saving benefits. These, and other benefits may enable manufacturers of mechanical structures to produce components at a lower cost and/or in a more efficient manner. The joining techniques described in the present disclosure relate to a process for connecting AM components and/or commercial off the shelf (COTS) components. AM components are 3-D components that are printed by, for example, adding layer upon layer of one or more materials based on a preprogramed design. The components described herein may be components used to assemble a variety of devices, such as engine components, structural components, etc. Further, such AM or COTS components may be used in assemblies, such as vehicles, trucks, trains, motorcycles, boats, aircraft, and the like, or other mechanized assemblies, without departing from the scope of the present disclosure.

[00026] Components and Terminology in AM

[00027] In an aspect of the present disclosure, a component may be an AM component. A component may be any 3-D printed component that includes features, such as an interface, for mating with another component. The component may have internal or external features configured to accept another component. For example, the component may be shaped to accept a particular type of component. A component may utilize any internal design or shape and accept any variety of components without departing from the scope of the disclosure.

[00028] A component interface may be configured to connect to an interface of another component. For example, and not by way of limitation, an interface between components may be a tongue-and-groove structure. The interface may have high precision features or complex geometries that allow them to perform specific functions, including creating connections to spanning structures such as tubes, structural panels, extrusions, sheet metal, and/or other structural members.

[00029] For clarity, components may also include relatively simple connection features configured to connect with the more sophisticated network of connection features of the interface to form streamlined connections between structures. While these components may incorporate more basic features, they advantageously may be 3-D printed at a higher print rate. Alternatively, components may be built using a suitable non 3-D print manufacturing technology.

[00030] A number of different AM technologies may be well-suited for construction of components in a transport structure or other mechanized assembly. Such 3-D printing techniques may include, for example, directed energy deposition (DED), selective laser melting (SLM), selective laser sintering (SLS), direct metal laser sintering (DMLS), electron beam melting (EBM), powder bed fusion (PBF), and/or other AM processes involving melting or fusion of metallic powders.

[00031] As in many 3-D printing techniques, these processes (e.g., PBF systems) can create build pieces layer-by-layer. Each layer or “slice” is formed by depositing a layer of powder and exposing portions of the powder to an energy beam. The energy beam is applied to melt areas of the powder layer that coincide with the cross-section of the build piece in the layer. The melted powder cools and fuses to form a slice of the build piece. The process can be repeated to form the next slice of the build piece, and so on. Each layer is deposited on top of the previous layer. The resulting structure is a build piece assembled slice-by- slice from the ground up. SLS and various other PBF techniques may be well suited to construction of gear cases and other transport structure components. However, it will be appreciated that other AM techniques, such as fused deposition modeling (FDM) and the like, are also possible for use in such applications.

[00032] A tongue-and-groove (TNG) structure may be used to connect two or more components at an interface. For example, a tongue portion of one component may extend around a peripheral region as a single protrusion disposed around the peripheral region. The tongue portion of a component may protrude outward along the peripheral region relative to that component, and the lateral extension of the tongue portion can be considered in this view as “coming out” of that component.

[00033] A groove portion of an interface is a portion of a second component and may be disposed along a peripheral region of the second component. The groove portion may comprise the material of the second component. The groove portion may extend all the way around the peripheral region and may be a single channel in the second component. The groove portion may also be inset inward along the peripheral region relative to the second component and runs laterally around the second component. The tongue and groove may be arranged on the first and second components such that when the two components are placed into contact, the tongue may align with the groove and may fit into the groove around the peripheral regions at the interface between the two components. In an aspect of the present disclosure, a tongue and/or a groove may include centering features which enable the tongue to be centered in the groove.

[00034] While the above description relates primarily to using a tongue-and-groove structure to join two or more components, the techniques described in this disclosure are not only applicable to tongue-and-groove structures. In fact, any suitable technique for joining multiple structures may be used without departing from the scope of the disclosure.

[00035] AM may include the manufacture of one or more nodes. A node is a structural member that may include one or more interfaces used to connect to other nodes or spanning components such as tubes, extrusions, panels, and the like. Using AM, a node may be constructed to include additional features and functions, including interface functions, depending on the objectives.

[00036] As described above, nodes and other components may be connected together. For example, one or more nodes and/or other components may be connected together to form larger components. Accordingly, individual AM structures often are connected together, or individual AM structures may be connected to machined or COTS parts, to provide combined structures, e.g., to realize the above modular network or to form a complex interior assembly in a vehicle. Examples include node-to-node connections, node- to-panel connections, node-to-tube connections, and node-extrusion connections, among others. To connect an AM joint member with a vehicle body panel, for example, mechanical connectors (e.g., screws, clamps, etc.) may be used. Alternatively or additionally, an adhesive may be used to form a strong bond. For connecting these parts, a strict tolerance is often imposed, meaning that the parts are positioned to fit precisely in an established orientation. For example, the two parts to be adhered may be positioned to avoid direct contact with each other in order to mitigate possible galvanic corrosion problems. In general, an adhesive connection between the AM joint member and panel results in an accurate fit. Thus the AM joint member is not misaligned with or offset from the body panel, for example, and the parts typically remain properly oriented when a permanent bond is established.

[00037] The present disclosure is directed to curing adhesive in robotic assembly cells.

[00038] Additive Manufacturing Environment

[00039] FIGS. 1A-1D illustrate respective side views of a 3-D printer system in an aspect of the present disclosure.

[00040] In an aspect of the present disclosure, a 3-D printer system may be a powder- bed fusion (PBF) system 100. FIGS. 1A-D show PBF system 100 during different stages of operation. The particular embodiment illustrated in FIGS. 1A-1D is one of many suitable examples of a PBF system employing principles of this disclosure. It should also be noted that elements of FIGS. 1A-1D and the other figures in this disclosure are not necessarily drawn to scale, but may be drawn larger or smaller for the purpose of better illustration of concepts described herein. PBF system 100 can include a depositor 101 that can deposit each layer of metal powder, an energy beam source 103 that can generate an energy beam, a deflector 105 that can apply the energy beam to fuse the powder material, and a build plate 107 that can support one or more build pieces, such as a build piece 109. Although the terms “fuse” and/or “fusing” are used to describe the mechanical coupling of the powder particles, other mechanical actions, e.g., sintering, melting, and/or other electrical, mechanical, electromechanical, electrochemical, and/or chemical coupling methods are envisioned as being within the scope of the present disclosure.

[00041] PBF system 100 can also include a build floor 111 positioned within a powder bed receptacle. The powder bed receptacle walls 112 generally define the boundaries of the powder bed receptacle, which is sandwiched between the powder bed receptacle walls 112 from the side and abuts a portion of the build floor 111 below. Build floor 111 can progressively lower build plate 107 so that depositor 101 can deposit a next layer. The entire mechanism may reside in a chamber 113 that can enclose the other components, thereby protecting the equipment, enabling atmospheric and temperature regulation and mitigating contamination risks. Depositor 101 can include a hopper 115 that contains a powder 117, such as a metal powder, and a leveler 119 that can level the top of each layer of deposited powder.

[00042] Referring specifically to FIG. 1 A, this figure shows PBF system 100 after a slice of build piece 109 has been fused, but before the next layer of powder has been deposited. In fact, FIG. 1A illustrates a time at which PBF system 100 has already deposited and fused slices in multiple layers, e.g., 200 individual layers, to form the current state of build piece 109, e.g., formed of 200 individual slices. The multiple individual layers already deposited have created a powder bed 121, which includes powder that was deposited but not fused.

[00043] FIG. IB shows PBF system 100 at a stage in which build floor 111 can lower by a powder layer thickness 123. The lowering of build floor 111 causes build piece 109 and powder bed 121 to drop by powder layer thickness 123, so that the top of build piece 109 and powder bed 121 are lower than the top of powder bed receptacle walls 112 by an amount equal to the powder layer thickness 123. In this way, for example, a space with a consistent thickness equal to powder layer thickness 123 can be created over the tops of build piece 109 and powder bed 121.

[00044] FIG. 1C shows PBF system 100 at a stage where depositor 101 is positioned to deposit powder 117 in a space created over the top surfaces of build piece 109 and powder bed 121 and bounded by powder bed receptacle walls 112. In this example, depositor 101 progressively moves over the defined space while releasing powder 117 from hopper 115. Level er 119 can level the released powder to form a powder layer 125 that leaves powder layer top surface 126 configured to receive fusing energy from energy beam source 103. Powder layer 125 has a thickness substantially equal to the powder layer thickness 123 (see FIG. IB). Thus, the powder in a PBF system can be supported by a powder material support structure, which can include, for example, a build plate 107, a build floor 111, a build piece 109, powder bed receptacle walls 112, and the like. It should be noted that the illustrated thickness of powder layer 125 (i.e., powder layer thickness 123 (FIG. IB)) is greater than an actual thickness used for the example involving the 200 previously-deposited individual layers discussed above with reference to FIG. 1 A.

[00045] FIG. ID shows PBF system 100 at a stage in which, following the deposition of powder layer 125 (FIG. 1C), energy beam source 103 generates an energy beam 127 and deflector 105 applies the energy beam to fuse the next slice in build piece 109. In various exemplary embodiments, energy beam source 103 can be an electron beam source, in which case energy beam 127 constitutes an electron beam. Deflector 105 can include deflection plates that can generate an electric field or a magnetic field that selectively deflects the electron beam to cause the electron beam to scan across areas designated to be fused. In various embodiments, energy beam source 103 can be a laser, in which case energy beam 127 is a laser beam. Deflector 105 can include an optical system that uses reflection and/or refraction to manipulate the laser beam to scan selected areas to be fused.

[00046] In various embodiments, the deflector 105 can include one or more gimbals and actuators that can rotate and/or translate the energy beam source to position the energy beam. In various embodiments, energy beam source 103 and/or deflector 105 can modulate the energy beam, e.g., turn the energy beam on and off as the deflector scans so that the energy beam is applied only in the appropriate areas of the powder layer. For example, in various embodiments, the energy beam can be modulated by a digital signal processor (DSP).

[00047] FIG. IE illustrates a functional block diagram of a 3-D printer system in accordance with an aspect of the present disclosure.

[00048] In an aspect of the present disclosure, control devices and/or elements, including computer software, may be coupled to PBF system 100 to control one or more components within PBF system 100. Such a device may be a computer 150, which may include one or more components that may assist in the control of PBF system 100. Computer 150 may communicate with a PBF system 100, and/or other AM systems, via one or more interfaces 151. The computer 150 and/or interface 151 are examples of devices that may be configured to implement the various methods described herein, that may assist in controlling PBF system 100 and/or other AM systems.

[00049] In an aspect of the present disclosure, computer 150 may comprise at least one processor unit 152, memory 154, signal detector 156, a digital signal processor (DSP) 158, and one or more user interfaces 160. Computer 150 may include additional components without departing from the scope of the present disclosure.

[00050] The computer 150 may include at least one processor unit 152, which may assist in the control and/or operation of PBF system 100. The processor unit 152 may also be referred to as a central processing unit (CPU). Memory 154, which may include both read only memory (ROM) and random access memory (RAM), may provide instructions and/or data to the processing unit 152. A portion of the memory 154 may also include non-volatile random access memory (NVRAM). The processor unit 152 typically performs logical and arithmetic operations based on program instructions stored within the memory 154. The instructions in the memory 154 may be executable (by the processor unit 152, for example) to implement the methods described herein.

[00051] The processor unit 152 may comprise or be a component of a processing system implemented with one or more processors. The one or more processors may be implemented with any combination of general-purpose microprocessors, microcontrollers, digital signal processors (DSPs), floating point gate arrays (FPGAs), programmable logic devices (PLDs), controllers, state machines, gated logic, discrete hardware components, dedicated hardware finite state machines, or any other suitable entities that can perform calculations or other manipulations of information.

[00052] The processor unit 152 may also include machine-readable media for storing software. Software shall be construed broadly to mean any type of instructions, whether referred to as software, firmware, middleware, microcode, hardware description language, or otherwise. Instructions may include code (e.g., in source code format, binary code format, executable code format, RS-274 instructions (G-code), numerical control (NC) programming language, and/or any other suitable format of code). The instructions, when executed by the one or more processors, cause the processing system to perform the various functions described herein.

[00053] The computer 150 may also include a signal detector 156 that may be used to detect and quantify any level of signals received by the computer 150 for use by the processing unit 152 and/or other components of the computer 150. The signal detector 156 may detect such signals as energy beam source 103 power, deflector 105 position, build floor 111 height, amount of powder 117 remaining in depositor 101, leveler 119 position, and other signals. Signal detector 156, in addition to or instead of processor unit 152 may also control other components as described with respect to the present disclosure. The computer 150 may also include a DSP 158 for use in processing signals received by the computer 150. The DSP 158 may be configured to generate instructions and/or packets of instructions for transmission to PBF system 100.

[00054] The computer 150 may further comprise a user interface 160 in some aspects. The user interface 160 may comprise a keypad, a pointing device, and/or a display. The user interface 160 may include any element or component that conveys information to a user of the computer 150 and/or receives input from the user.

[00055] The various components of the computer 150 may be coupled together by an interface 151. The interface 151 may include a data bus, for example, as well as a power bus, a control signal bus, and a status signal bus in addition to the data bus. Components of the computer 150 may be coupled together or accept or provide inputs to each other using some other mechanism.

[00056] Although a number of separate components are illustrated in FIG. IE, one or more of the components may be combined or commonly implemented. For example, the processor unit 152 may be used to implement not only the functionality described above with respect to the processor unit 152, but also to implement the functionality described above with respect to the signal detector 156, the DSP 158, and/or the user interface 160. Further, each of the components illustrated in FIG. IE may be implemented using a plurality of separate elements.

[00057] By way of example, an element, or any portion of an element, or any combination of elements may be implemented using one or more processors. Examples of processors include microprocessors, microcontrollers, graphics processing units (GPUs), central processing units (CPUs), application processors, digital signal processors (DSPs), reduced instruction set computing (RISC) processors, systems on a chip (SoC), baseband processors, field programmable gate arrays (FPGAs), programmable logic devices (PLDs), state machines, gated logic, discrete hardware circuits, and other suitable hardware configured to perform the various functionality described throughout this disclosure. One or more processors may execute software as that term is described above.

[00058] In one or more aspects, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a computer. By way of example, and not limitation, such computer- readable media can comprise RAM, ROM, EEPROM, compact disc (CD) ROM (CD- ROM) or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Disk and disc, as used herein, includes CD, laser disc, optical disc, digital versatile disc (DVD), floppy disk and Blu-ray disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers. Thus, computer readable medium comprises a non- transitory computer readable medium (e.g., tangible media).

[00059] Robotic Assembly Environment

[00060] FIG. 2 illustrates a perspective view of an example of a fixtureless assembly system 200. Fixtureless assembly system 200 may be employed in various operations associated with fixtureless assembly of a vehicle, such as robotic assembly of a node-based vehicle. Fixtureless assembly system 200 may include one or more elements associated with at least a portion of the assembly of a vehicle without any fixtures. For example, one or more elements of fixtureless assembly system 200 may be configured for one or more operations in which a first structure is joined with one or more other structures without the use of any fixtures during robotic assembly of a node-based vehicle.

[00061] An assembly cell 205 may be configured at the location of fixtureless assembly system 200. Assembly cell 205 may be a vertical assembly cell. Within assembly cell 205, fixtureless assembly system 200 may include a set of robots 207, 209, 211, 213, 215, 217. Robot 207 may be referred to as a keystone robot. Fixtureless assembly system 200 may include parts tables 221 that can hold parts and structures for the robots to access. For example, a first structure 223 and a second structure 225 may be positioned on one of parts tables 221 to be picked up by the robots and assembled together. In various embodiments, one or more of the structures can be an additively manufactured structure, such as a complex node.

[00062] Fixtureless assembly system 200 may also include a computing system 229 to issue commands to the various controllers of the robots of assembly cell 205. In this example, computing system 229 is communicatively connected to the robots through wireless communication. Fixtureless assembly system 200 may also include a metrology system 231 that can accurately measure the positions of the robotic arms of the robots and/or the structures held by the robots.

[00063] In contrast to conventional robotic assembly factories, structures can be assembled without fixtures in fixtureless assembly system 200. For example, structures need not be connected within any fixtures, such as the fixtures described above. Instead, at least one of the robots in assembly cell 205 may provide the functionality expected from fixtures. For example, robots may be configured to directly contact (e.g., using an end effector of a robotic arm) structures to be assembled within assembly cell 205 so that those structures may be engaged and retained without any fixtures. Further, at least one of the robots may provide the functionality expected from the positioner and/or fixture table. For example, keystone robot 207 may replace a positioner and/or fixture table in fixtureless assembly system 200.

[00064] Keystone robot 207 may include a base and a robotic arm. The robotic arm may be configured for movement, which may be directed by computer-executable instructions loaded into a processor communicatively connected with keystone robot 207. Keystone robot 207 may contact a surface of assembly cell 205 (e.g., a floor of the assembly cell) through the base.

[00065] Keystone robot 207 may include and/or be connected with an end effector that is configured to engage and retain a first structure, e.g., a portion of a vehicle. An end effector may be a component configured to interface with at least one structure. Examples of the end effectors may include jaws, grippers, pins, or other similar components capable of facilitating fixtureless engagement and retention of a structure by a robot. In some embodiments, the first structure may be a section of a vehicle chassis, body, frame, panel, base piece, and the like. For example, the first structure may comprise a floor panel.

[00066] In some embodiments, keystone robot 207 may retain the connection with a first structure through an end effector while a set of other structures is connected (either directly or indirectly) to the first structure. Keystone robot 207 may be configured to engage and retain the first structure without any fixtures - e.g., none of the fixtures described above may be present in fixtureless assembly system 200. In some embodiments, structures to be retained by at least one of the robots (e.g., the first structure) may be additively manufactured or co-printed with one or more features that facilitate engagement and retention of those structures by the at least one of the robots without the use of any fixtures. [00067] In retaining the first structure, keystone robot 207 may position (e.g., move) the first structure; that is, the position of the first structure may be controlled by keystone robot 207 when retained by the keystone robot. Keystone robot 207 may retain the first structure by holding or grasping the first structure, e.g., using an end effector of a robotic arm of the keystone robot. For example, keystone robot 207 may retain the first structure by causing gripper fingers, jaws, and the like to contact one or more surfaces of the first structure and apply sufficient pressure thereto such that the keystone robot controls the position of the first structure. That is, the first structure may be prevented from moving freely in space when retained by keystone robot 207, and movement of the first structure may be constrained by the keystone robot. As described above, the first structure may include one or more features that facilitates the fixtureless engagement and retention of the first structure by keystone robot 207.

[00068] As other structures (including subassemblies, substructures of structures, etc.) are connected to the first structure, keystone robot 207 may retain the engagement with the first structure through the end effector. The aggregate of the first structure and one or more structures connected thereto may be referred to as a structure itself, but may also be referred to as an assembly or a subassembly. Keystone robot 207 may retain an engagement with an assembly once the keystone robot has engaged the first structure.

[00069] In some embodiments, robots 209 and 211 of assembly cell 205 may be similar to keystone robot 207 and, thus, may include respective end effectors configured to engage with structures that may be connected with the first structure when retained by the keystone robot. In some embodiments, robots 209, 211 may be referred to as assembly robots and/or materials handling robots.

[00070] In some embodiments, robot 213 of assembly cell 205 may be used to affect a structural connection between the first structure and the second structure. For instance, robot 213 may be referred to as a structural adhesive robot. Structural adhesive robot 213 may be similar to the keystone robot 207, except the structural adhesive robot may include a tool at the distal end of the robotic arm that is configured to apply structural adhesive to at least one surface of structures fixturelessly retained by the keystone robot and structures fixturelessly retained by assembly robots 209, 211 before or after the structures are positioned at joining proximities with respect to other structures for joining with the other structures. The joining proximity can be a position that allows a first structure to be joined to a second structure. For example, in various embodiments, the first and second structures may be joined though the application of an adhesive while the structures are within the joining proximity and subsequent curing of the adhesive.

[00071] In various embodiments a quick-cure adhesive may be additionally applied to join the structures quickly and retain the structures so that the structural adhesive can cure without both robots holding the structures. In this regard, robot 215 of fixtureless assembly system 200 may be used to apply quick-cure adhesive and to cure the adhesive quickly. In this example embodiment, a quick-cure UV adhesive may be used, and robot 215 may be referred to as a UV robot. UV robot 215 may be similar to keystone robot 207, except the UV robot may include a tool at the distal end of the robotic arm that is configured to apply a quick-cure UV adhesive and to cure the adhesive, e.g., when the first structure is positioned within the joining proximity with respect to the second structure. That is, UV robot 215 may cure an adhesive after the adhesive is applied to the first structure and/or second structure when the structures are within the joining proximity obtained through direction of at least one of the robotic arms of keystone robot 207 and/or assembly robots 209, 211.

[00072] In various embodiments, a robot may be used for multiple different roles. For example, robot 217 may perform the role of an assembly robot, such as assembly robots 209, 211, and the role of a UV robot, such as UV robot 215. In this regard, robot 217 may be referred to as an “assembly/UV robot.” Assembly/UV robot 217 may offer functionality similar to each of the assembly robots 209, 211 when the distal end of the robotic arm of the assembly/UV robot includes an end effector (e.g., connected by means of a tool flange). However, assembly/UV robot 217 may offer functionality similar to UV robot 215 when the distal end of the robotic arm of the assembly/UV robot includes a tool configured to applied UV adhesive and to emit UV light to cure the UV adhesive.

[00073] The quick-cure adhesive applied by UV robot 215 and assembly/UV robot 217 may provide a partial adhesive bond in that the adhesive may retain the relative positions of a first structure and a second structure within the joining proximity until the structural adhesive may be cured to permanently join the first structure and the second structure.

[00074] In assembling at least a portion of a vehicle in assembly cell 205, the second structure may be joined directly to the first structure by directing the various robots 207, 209, 211, 213, 215, 217. Additional structures may be indirectly j oined to the first structure. For example, the first structure may be directly joined to the second structure through movement(s) of keystone robot 207, structural adhesive robot 213, at least one assembly robot 209, 211, and/or UV robot 215. Thereafter, the first structure, joined with the second structure, may be indirectly joined to an additional structure as the additional structure is directly joined to the second structure. Thus, the first structure, which may continue to be retained by keystone robot 207, may evolve throughout an assembly process as additional structures are directly or indirectly joined to it.

[00075] In some embodiments, assembly robots 209, 211 may fixtureles sly join two or more structures together, e.g., with a partial, quick-cure adhesive bond, before fixturelessly joining those two or more structures with the first structure retained by keystone robot 207. The two or more structures that are joined to one another prior to being joined with a structural assembly may also be a structure, and may further be referred to as a subassembly. Accordingly, when a structure forms a portion of a structural subassembly that is connected with the first structure through movements of keystone robot 207, structural adhesive robot 213, at least one assembly robot 209, 211, and UV robot 215, a structure of the structural subassembly may be indirectly connected to the first structure when the structural subassembly is joined to a structural assembly including the first structure.

[00076] In some embodiments, the structural adhesive may be applied, e.g., deposited in a groove of one of the structures, before the first and second structures are brought within the joining proximity. For example, structural adhesive robot 213 may include a dispenser for a structural adhesive and may apply the structural adhesive prior to the structures being brought within the joining proximity. In some embodiments, a structural adhesive may be applied after a structural assembly is fully constructed (that is, once each structure of the portion of the vehicle is joined to the first structure). For example, the structural adhesive may be applied to one or more joints or other connections between the first structure and the second structure. In some embodiments, the structural adhesive may be applied separately from fixtureless assembly system 200.

[00077] After the assembly is complete, i.e., all of the structures have been assembled, retained with a partial adhesive bond, with structural adhesive having been applied, the structural adhesive may be cured. Upon curing the structural adhesive, the portion of the vehicle may be completed and, therefore, may be suitable for use in the vehicle. For example, a completed structural assembly may meet any applicable industry and/or safety standards defined for consumer and/or commercial vehicles.

[00078] According to various embodiments, one or more of robots 207, 209, 211, 213, 215, 217 may be secured to a surface of assembly cell 205 through a respective base of each of the robots. For example, one or more of the robots may have a base that is bolted to the floor of the assembly cell. In various other embodiments, one or more of the robots may include or may be connected with a component configured to move the robot within assembly cell 205. For example, a carrier 219 in assembly cell 205 may be connected to assembly /UV robot 217.

[00079] Each of robots 207, 209, 211, 213, 215, 217 may include features that are common across all or some of the robots. For example, all of the robots may include a base, each of which having a surface (e.g., a bottom surface) that contacts assembly cell 205 (e.g., rests on or is secured to a floor of the assembly cell). Each base may have another surface (e.g., a top surface and/or a surface disposed on the base opposite from the surface contacting assembly cell 205) and, at a respective other surface, a base may connect with a proximal end of a respective robotic arm of a respective one of the robots.

[00080] In some embodiments, a base may be connected to the proximal end of a robotic arm through at least one rotation and/or translation mechanism. The at least one rotation and/or translation mechanism may provide at least one degree of freedom in movement of an end effector or other tool of the robotic arm. Correspondingly, the at least one rotation and/or translation mechanism may provide at least one degree of freedom in movement of a structure that is engaged and retained by an end effector or other tool of the robotic arm.

[00081] Each robotic arm of robots 207, 209, 211, 213, 215, 217 may include a distal end, oppositely disposed from the proximal end of the robotic arm. Each robotic arm of each of the robots may include an end effector and/or a tool, such as an adhesive application tool, curing tool, and so forth. An end effector or a tool may be at the distal end of a robotic arm. In some embodiments, the distal end of a robotic arm may be connected to an end effector or a tool (or tool flange) through at least one rotation and/or translation mechanism, which may provide at least one degree of freedom in movement of the tool and/or movement of a structure engaged and retained by the tool of the robotic arm.

[00082] In some embodiments, the distal end of a robotic arm may include a tool flange, and a tool included at the tool flange; for example, a tool may be connected to the distal end of a robotic arm by means of the tool flange. A tool flange may be configured to include a plurality of tools. In this way, for example, the assembly /UV robot 217 may offer functionality similar to each of the assembly robots 209, 211 when a distal end of a robotic arm of the assembly/UV robot 217 includes an end effector (e.g., connected by means of the tool flange). In addition, the assembly/UV robot 217 may offer functionality similar to the UV robot 215 when the distal end of the robotic arm of the assembly/UV robot 217 includes a tool configured to apply UV adhesive and to emit UV light to cure the adhesive. [00083] According to some embodiments, a tool flange and/or tool may provide one or more additional degrees of freedom for rotation and/or translation of a structure engaged and retained by the tool. Such additional degrees of freedom may supplement the one or more degrees of freedom provided through one or more mechanisms connecting a base to the proximal end of a robotic arm and/or connecting the distal end of a robotic arm to the tool (or tool flange). Illustratively, a robotic arm of at least one of robots 207, 209, 211, 213, 215, 217 may include at least one joint configured for rotation and/or translation at a distal and/or proximal end, such as an articulating joint, a ball joint, and/or other similar joint.

[00084] One or more of the respective connections of robots 207, 209, 211, 213, 215, 217 (e.g., one or more rotational and/or translational mechanisms connecting various components of one of the robots), a respective tool flange, and/or a respective tool may provide at least a portion (and potentially all) of six degrees of freedom (6DoF) for a structure engaged and retained by the robots. The 6DoF may include forward/backward (e.g., surge), up/down (e.g., heave), left/right (e.g., sway) for translation in space and may further include yaw, pitch, and roll for rotation in space. Access to various portions of a structure may be attainable through one or more of the 6DoF, as opposed to retention of a structure using a fixture, which cannot offer 6DoF in movement of a structure and also blocks access to a significant portion of a structure attached thereto.

[00085] Each of the robots 207, 209, 211, 213, 215, 217 may be communicatively connected with a controller, such as a respective one of controllers 237, 239, 241, 243, 245, 247 shown in FIG. 2. Each of controllers 237, 239, 241, 243, 245, 247 may include, for example, a memory and a processor communicatively connected to the memory, and may be similar to the computer 150 and memory 154 as described with respect to FIG. IE. According to some other embodiments, one or more of controllers 237, 239, 241, 243, 245, 247 may be implemented as a single controller that is communicatively connected to one or more of the robots controlled by the single controller.

[00086] Computer-readable instructions for performing fixtureless assembly can be stored on the memories of controllers 237, 239, 241, 243, 245, 247, and the processors of the controllers can execute the instructions to cause robots 207, 209, 211, 213, 215, 217 to perform various fixtureless operations, such as those described above.

[00087] Controllers 237, 239, 241, 243, 245, 247 may be communicatively connected to one or more components of an associated robot 207, 209, 211, 213, 215, or 217, for example, via a wired (e.g., bus or other interconnect) and/or wireless (e.g., wireless local area network, wireless intranet) connection. Each of the controllers may issue commands, requests, etc., to one or more components of the associated robot, for example, in order to perform various fixtureless operations.

[00088] According to some embodiments, controllers 237, 239, 241, 243, 245, 247 may issue commands, etc., to a robotic arm of the associated robot 207, 209, 211, 213, 215, or 217 and, for example, may direct the robotic arms based on a set of absolute coordinates relative to a global cell reference frame of assembly cell 205. In various embodiments, controllers 237, 239, 241, 243, 245, 247 may issue commands, etc., to tools connected to the distal ends of the robotic arms. For example, the controllers may control operations of the tool, including depositing a controlled amount of adhesive on a surface of the first structure or second structure by an adhesive applicator, exposing adhesive deposited between structures to UV light for a controlled duration by a curing tool, and so forth. In various embodiments, controllers 237, 239, 241, 243, 245, 247 may issue commands, etc., to end effectors at the distal ends of the robotic arms. For example, the controllers may control operations of the end effectors, including, engaging, retaining, and/or manipulating a structure.

[00089] According to various other aspects, a computing system, such as computing system 229, similarly having a processor and memory, may be communicatively connected with one or more of controllers 237, 239, 241, 243, 245, 247. In various embodiments, the computing system may be communicatively connected with the controllers via a wired and/or wireless connection, such as a local area network, an intranet, a wide area network, and so forth. In some embodiments, the computing system may be implemented in one or more of controllers 237, 239, 241, 243, 245, 247. In some other embodiments, the computing system may be located outside assembly cell 205.

[00090] The processor of the computing system may execute instructions loaded from memory, and the execution of the instructions may cause the computing system to issue commands, etc., to the controllers 237, 239, 241, 243, 245, 247, such as by transmitting a message including the command, etc., to one of the controllers over a network connection or other communication link.

[00091] According to some embodiments, one or more of the commands may indicate a set of coordinates and may indicate an action to be performed by one of robots 207, 209, 211, 213, 215, 217 associated with the one of the controllers that receives the command. Examples of actions that may be indicated by commands include directing movement of a robotic arm, operating a tool, engaging a structure by an end effector, rotating and/or translating a structure, and so forth. For example, a command issued by a computing system may cause controller 239 of assembly robot 209 to direct a robotic arm of assembly robot 209 so that the distal end of the robotic arm may be located based on a set of coordinates that is indicated by the command.

[00092] The instructions loaded from memory and executed by the processor of the computing system, which cause the controllers to control actions of the robots may be based on computer-aided design (CAD) data. For example, a CAD model of assembly cell 205 (e.g., including CAD models of the physical robots) may be constructed and used to generate the commands issued by the computing system.

[00093] Accordingly, in one example of a fixtureless assembly process, multiple robots (e.g., robots 207, 209, 211, 213, 215, and/or 17) are controlled (e.g., by computing system 229 and/or one or more controller(s) 237, 239, 241, 243, 245, 247) to join two structures together within an assembly cell (e.g. a vertical assembly cell such as assembly cell 205). The assembly operations may be performed repeatedly so that multiple structures may be joined for fixtureless assembly of at least a portion of a vehicle (e.g., vehicle chassis, body, panel, and the like). A first material handling robot (e.g., robot 209) may retain (e.g., using an end effector) a first structure (e.g., first structure 223) that is to be joined with a second structure (e.g., second structure 225) similarly retained by a second material handling robot (e.g., robot 211). A structural adhesive dispensing robot (e.g., robot 213) may apply structural adhesive to a surface of the first structure retained by the first robot. The first material handling robot may then position the first structure at a joining proximity with respect to the second structure retained by the second material handling robot. A metrology system (e.g., metrology system 231) may implement a move-measure-correct (MMC) procedure to accurately measure, correct, and move the robotic arms of the robots and/or the structures held by the robots into preferred positions at the joining proximity (e.g. using laser scanning and/or tracking).

[00094] The positioned structures (e.g., structures 223, 225) may then be joined together using the structural adhesive and cured (e.g., over time or using heat). However, as the curing rate of the structural adhesive may be relatively long, a quick-cure adhesive robot (e.g., robot 215 or robot 217) additionally applies a quick-cure adhesive to the first and/or second structures when the first and second structures are within the joining proximity, and then the quick-cure adhesive robot switches to an end-effector which emits electromagnetic (EM) radiation (e.g., ultraviolet (UV) radiation) onto the quick-cure adhesive. For example, the quick-cure adhesive robot may apply UV adhesive strips across the surfaces of the first and/or second structures such that the UV adhesive contacts both structures, and then the robot may emit UV radiation onto the UV adhesive strips. Upon exposure to the EM radiation, the quick-cure adhesive cures at a faster curing rate than the curing rate of the structural adhesive, thus allowing the first and second structure to be retained in their relative positions without fixtures so that the robots may quickly attend to other tasks (e.g., retaining and joining other parts) without waiting for the structural adhesive to cure. Once the structural adhesive cures, the first and second structures are bonded with structural integrity.

[00095] However, as the first and second structures in the joining proximity may be oriented in a variety of positions, the UV adhesive strips contacting the surface(s) may occasionally move (e.g., drip off). For instance, one structure may be positioned upside- down relative to another structure, and the UV adhesive may therefore drip off due to gravity. As a result, when the UV adhesive is cured, the first and second structures may be inadvertently retained in positions that do not provide acceptable tolerance, impacting the structural integrity of the assembly.

[00096] Difficulties in applying UV adhesive at the joining proximity may also cause improper retention of structures. For example, the material handling robots retaining the first and second structures in the joining proximity may be tightly packed in the assembly cell. As a result, a quick-cure adhesive robot may have difficulty maneuvering around the material handling robots and applying the UV adhesive to the structures in the joining proximity within this tightly packed area. Moreover, since the metrology system may also be using laser tracking to perform MMC for these structures in this tightly packed area, the quick-cure adhesive robot may potentially obstruct the lasers and the MMC process when attempting to apply the UV adhesive. As a result, the entire assembly may be impacted. For instance, when assemblies are formed by stacking different parts, the misalignment of one structure may affect the alignment of other parts which the structure supports. Additionally, since structures and subassemblies are frequently moved during the assembly process, an improper retention may cause the structures or subassemblies to deflect or drop from the assembly.

[00097] Joint Assembly and Disassembly

[00098] FIG. 3 illustrates a connection at a retention feature between structures in accordance with an aspect of the present disclosure.

[00099] As shown in FIG. 3, a subassembly 300 may include multiple structures, e.g., first structure 223 and second structure 225. Where first structure 223 and second structure 225 join, e.g., at interface 302, first structure 223 may have a retention feature 304 while second structure 225 may have an alignment feature 306 that is coupled to retention feature 304.

[000100] The retention feature 304 may serve multiple functions, e.g., a visual assurance that first structure 223 and second structure 225 are coupled together, alignment of the first structure 223 and second structure 225, etc. Further, retention feature 304 may serve as an insertion point for an adhesive to bond first structure 223 and second structure 225 together.

[000101] When first structure 223 and second structure 225 are coupled together, an adhesive, such as a quick-cure adhesive, may be placed in retention feature 304 to bond with alignment feature 306, while a second adhesive, such as a structural adhesive, may be placed elsewhere between first structure 223 and second structure 225. The quick-cure adhesive may provide a quick connection for the subassembly 300 during other assembly operations, such that subassembly can be handled and moved as a single piece for other assembly operations.

[000102] Moreover, FIG. 3 illustrates an example of a subassembly 300 including a first structure 223 joined to a second structure 225 using the retention feature 304 and alignment feature 306.

[000103] First structure 223 of subassembly 300 may have an adhesive dispensing robot (e.g., robot 213, 215, or 217) inject a quick-cure adhesive into retention feature 304. After the adhesive is dispensed into retention feature 304 and alignment feature 306 of second structure 225 is inserted into the adhesive in the retention feature, the adhesive in the retention feature may be exposed to EM radiation, e.g., ultraviolet (UV) light, to cure the quick-cure adhesive contained within the retention feature 304 and thereby bond the first and second structures to each other. Alignment feature 306, which may be referred to as a tongue, which a material handling robot (e.g., robot 209 or 211) may place into the quick- cure adhesive within the retention feature 304 of the first structure 223, may include a plurality of segments spaced apart from each other (e.g., comb shape shown in FIG. 3), a plurality of openings (e.g., a waffle or grid shape) or may be a solid tongue which contacts the quick-cure adhesive when the alignment feature 306 (tongue) is inserted into the retention feature 304.

[000104] FIG. 4 illustrates a perspective view of an apparatus in accordance with an aspect of the present disclosure. [000105] FIG. 4 illustrates a mechanism 400, which may include, for example, a change tool 402, a chassis 404, a shaft coupling 406, a gearbox 408, a radiation head 410, and one or more position sensors 412.

[000106] Change tool 402 may act as a connector for mechanism 400 to couple mechanism 400 to a robot arm of a robot 207, 209, 211, 213, 215, or 217. Change tool 402 may allow for control of other elements of mechanism 400, e.g., chassis 404, gearbox 408, radiation head 410, etc. In an aspect of the present disclosure, electrical and/or mechanical connections may be provided that pass through change tool 402 to allow for electrical and/or mechanical control of mechanism 400 or any of the elements of mechanism 400.

[000107] Chassis 404 may include a motor which allows for movement of radiation head 410 in one or more axes, depending on the gearbox 408 configuration. For example, and not by way of limitation, chassis 404 may include a motor that rotates a shaft coupled to shaft coupling 406, which may move radiation head 410 into a desired location.

[000108] Shaft coupling 406 couples chassis 404 to gearbox 408. Gearbox 408 may provide an increased or decreased rotational speed, e.g., a ratio between the rotational speed of a shaft of a motor located in chassis 404 and the movement of radiation head 410, such that a more precise movement of radiation head 410 can be obtained. Gearbox 408 may also allow for more precise positional control of radiation head 410, e.g., precise and/or repeatable angular adjustments of radiation head 410.

[000109] Radiation head 410 is a radiation source, e.g., an ultraviolet (UV) light source and/or associated mechanical and electronic parts, that produces radiation that may be used to cure an adhesive as described with respect to FIG. 3. Position sensors 412 may provide feedback signals to computing system 229 and/or one or more controller(s) 237, 239, 241, 243, 245, 247 to indicate the position, in one or more axes, of radiation head 410.

[000110] Mechanism 400 may mount onto robot arm of a robot 207, 209, 211, 213, 215, or 217 and may provide position and orientation variation of radiation head 410 in order to cure a retention adhesive during robotic construction of a subassembly or assembly. Mechanism 400 may allow for rotational motion, at change tool 402, through gearbox 408. Mechanism 400 may provide, for example, controlled rotary motion of radiation head 410, allowing it to move about a nominal position. Such rotary motion may be from the nominal position to a 90 degree position, +/- 90 degrees about the nominal position, or other rotational ranges as desired. Stop positions at one or more locations, e.g., + 15 degrees, - 45 degrees, etc., may also be included in the controlled rotational motion provided by mechanism 400. [000111] Mechanism 400 may also allow for selective powering of radiation head 410. In an aspect of the present disclosure, radiation head 410 may be powered on for specific durations of time, or can variable power applied to radiation head 410, based on adhesive retention, construction timing, or other factors as desired.

[000112] As such, an apparatus such as mechanism 400 may allow for a moveable radiation head 410, where radiation head 410 is moveable and/or rotatable with respect to other parts of mechanism 400, e.g., chassis 404. Further, such movement may be an angular movement, as shown in FIG. 4, that changes the direction of radiation emitting from radiation head 410.

[000113] FIG. 5 illustrates a top view of an apparatus in accordance with an aspect of the present disclosure.

[000114] FIG. 5 again illustrates mechanism 400, which may include, for example, a change tool 402, a chassis 404, a shaft coupling 406, a gearbox 408, a radiation head 410, and one or more position sensors 412. As shown in FIG. 5, mechanism 400 may provide a rotation 500 to radiation head 410 through a chassis shaft 502, a gearbox shaft 504, and a mounting arm 506.

[000115] Chassis shaft 502 may be a motor shaft that extends from chassis 404. As discussed with respect to FIG. 4, a motor in chassis 404 may operate at a certain speed, or at variable speeds, with a speed of chassis shaft 502 being representative of the speed of any motor in chassis 404. Chassis shaft 502 may be coupled to shaft coupling 406.

[000116] Gearbox shaft 504 is also coupled to shaft coupling 406, and couples the rotational speed of chassis shaft 502 to gearbox 408. Mounting arm 506 couples gearbox 408 to radiation head 410, and transfers the rotation of chassis shaft 502/gearbox shaft 504 into movement of radiation head 410.

[000117] As seen in FIG. 5, an apparatus such as mechanism 400 may translate rotation of the shaft, e.g., chassis shaft 502, gearbox shaft 504, etc., into movement of mounting arm 506, which then moves radiation head 410 that is coupled to mounting arm 506. Since radiation head 410 emits radiation in a given direction, movement of mounting arm 506 may change the direction of emission of radiation from radiation head 410.

[000118] Mechanism 400 may be controlled by one or more controllers, e.g., controllers 237, 239, 241, 243, 245, 247 which are coupled to chassis 404 (e.g., a motor in chassis 404), radiation head 410, etc. A controller may selectively rotate the shaft of the motor to move the mounting arm 506. Movement of the mounting arm 506 may be normal to the direction of emission of radiation from radiation head 410, and may be in a linear or arc motion. The movement may be from a nominal position, e.g., a “zero” position, and may move in one or more directions away from the nominal position, e.g., +/- 90 degrees in a given plane, +1- 4 inches from the nominal position, etc. The movement may include one or more stop locations as desired.

[000119] FIG. 6 illustrates an exploded view of a mounting arm and radiation head in accordance with an aspect of the present disclosure.

[000120] FIG. 6 illustrates mounting arm 506 and radiation head 410 in an exploded view. Radiation head 410 may include, for example, fan 600, heat exchanger 602, radiation source 604, and light shroud 606. Screws and/or other connecting hard ware/ attachment hardware may also be included to connect the various parts of radiation head 410 together, and may also connect radiation head 410 to mounting arm 506.

[000121] Fan 600 may provide cooling air and/or remove heated air from heat exchanger 602 and radiation source 604. Heat exchanger 602 may be coupled to radiation source 604 and provide a thermal mass such that any heat generated by radiation source 604 can be transferred away from radiation source 604. Heat exchanger 602 may also serve as a mounting interface for fan 600 and radiation source 604. In an aspect of the present disclosure, heat exchanger 602 may be additively-manufactured. For example, and not by way of limitation, the mass of heat exchanger may be controlled to provide sufficient torque margins for gearbox 408 and any motor in chassis 404, and the shape of radiation head 410 may be designed to increase thermal transfer or allow for placement of radiation head 410 into small spaces.

[000122] Radiation source 604 may provide radiation, e.g., UV radiation, which may be directed in one or more desired directions. For example, and not by way of limitation, radiation source 604 may direct UV radiation towards light shroud 606.

[000123] Light shroud 606 may limit the field of view of radiation source 604 to a given aperture. For example, and not by way of limitation, Light shroud 606 may contain radiation from radiation source 604 to a desired exposure beamwidth, such that any radiation from radiation source 604 can be directed toward a desired location and/or minimize radiation emissions in undesired areas.

[000124] The dimensions of mounting arm 506 and radiation head 410 may be selected to allow for accessibility into spaces that are not easily accessed. In an aspect of the present disclosure, selection of the dimensions of mounting arm 506 and radiation head 410 may allow for robot 207, 209, 211, 213, 215, 217 to extend radiation head 410 into small assembly volumes and at compound angles. In such an aspect, retention features can be placed in a wider range of locations on any given component. Further, selection of the shape and thermal characteristics of heat exchanger 602 may allow for increasing the output of radiation source 604, which may reduce cure times for adhesives used to couple components together during assembly.

[000125] Advantages Provided by the Present Disclosure

[000126] Mechanism 400 may provide a number of advantages over the related art. For example, and not by way of limitation, the reduction in radiation head 410 size may allow for greater design flexibility for components, e.g., first structure 223 and second structure 225, in that additional locations for retention feature 304 and alignment feature 306 may be achievable.

[000127] Another advantage of mechanism 400 allows for moving radiation head 410 and radiation source 604 closer to the application of adhesive to retention feature 304 and alignment feature 306. This may increase the quality, strength, and/or repeatability of the retention bond during assembly operations.

[000128] Another advantage of mechanism 400 allows for reduced curing time of adhesives during assembly. Another advantage of mechanism 400 is that mechanism 400 may be easier to move than other light sources, and therefore allows robot 207, 209, 211, 213, 215, 217 to move faster during assembly operations. These reduced curing times and/or faster movement of robot 207, 209, 211, 213, 215, 217 during assembly operations reduces the cycle time for construction of an assembly or subassembly.

[000129] The previous description is provided to enable any person skilled in the art to practice the various aspects described herein. Various modifications to these exemplary embodiments presented throughout this disclosure will be readily apparent to those skilled in the art, and the concepts disclosed herein may be applied to other techniques for printing nodes and interconnects. Thus, the claims are not intended to be limited to the exemplary embodiments presented throughout the disclosure, but are to be accorded the full scope consistent with the language claims. All structural and functional equivalents to the elements of the exemplary embodiments described throughout this disclosure that are known or later come to be known to those of ordinary skill in the art are intended to be encompassed by the claims. Moreover, nothing disclosed herein is intended to be dedicated to the public regardless of whether such disclosure is explicitly recited in the claims. No claim element is to be construed under the provisions of 35 U.S.C. §112(f), or analogous law in applicable jurisdictions, unless the element is expressly recited using the phrase “means for” or, in the case of a method claim, the element is recited using the phrase “step for.”