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DraftS05-CON-011v0.1Source imported
Section 27 of 55
26. Robotic Alignment Architecture
Stable section ID: S05-CON-011-SECTION-27 · 24 content blocks
System05 shall use a staged Robotic Alignment Architecture that reduces dependence on perfect initial positioning.
Alignment should progress through:
- Approach: The component enters the permitted work envelope.
- Coarse Alignment: Large positional and rotational error is reduced.
- Guided Capture: Geometry directs the component toward the Interface.
- Fine Alignment: Precision features establish final relative position.
- Seating: The component reaches the defined engagement depth.
- Temporary Capture: The component remains safely retained.
- Final Locking: Structural or functional engagement is completed.
- Verification: Position and state are confirmed.
Alignment features may include:
- Chamfers.
- Funnels.
- Tapered guides.
- Lead-in rails.
- Conical pins.
- Locating holes.
- Compliant guides.
- Keyed profiles.
- Mechanical stops.
- Visual or tactile indicators.
- Alignment geometry shall prevent or detect incorrect orientation, incompatible components, and false seating.
The system shall define permissible contact forces, insertion forces, misalignment, and corrective motion. Excessive resistance shall not be overcome merely by increasing robot force.
Where compliance is required, it may be provided through component geometry, the end effector, force control, or a qualified combination. The final alignment state shall be established by stable physical references rather than robot position alone.