Abstract:
A methodology of sleeving at least one lead of a stator is provided. The methodology includes the steps of robotically selecting at least one of the stator leads, and robotically positioning an insulating sleeve over the stator lead.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     The present invention is a continuation-in-part of U.S. patent application Ser. No. 09/122,950, filed on Jul. 27, 1998, now U.S. Pat. No. 6,073,336, entitled STATOR COIL LACING DEVICE, naming Hobart DeHart as the inventor. 
    
    
     TECHNICAL FIELD 
     The present invention relates to a method and apparatus of manufacturing a stator. More particularly, the present invention relates to an automated method of shielding, grouping, and splicing stator leads prior to lacing of the leads and the stator coil end windings. 
     BACKGROUND OF THE INVENTION 
     Induction motors typically include a stator and a rotor. The stator includes a metallic core with a plurality of coils or windings running through the core. An alternating current is passed through these coils to generate an alternating magnetic flux field. The rotor has a plurality of coils or windings in which an alternating current is induced by the alternating magnetic flux field of the stator. The end coils or end turns of the stator are grouped together at axial ends of the stator and are often laced or stitched together to prevent their interfering with other components of a device. The end turns are often coated with an epoxy or resin subsequent to stitching. This coating helps reduce movement of the wires and provides an insulated barrier between the wires and other objects. Lacing in this case helps assure that the coils are tightly grouped together prior to coating. 
     Also extending from axial ends of the stator are several groups of bare wire leads. The leads serve to supply electrical power and control signals to the stator during operation. Because each of the leads carry signals of varying electric potential, the leads are typically insulated from one another with a non-electrically conductive shield or sleeve, respectively. The non-electrically conductive sleeve provides the leads with protection from shorting one another out in the event two or more leads happen to cross. During manufacture of the stator, placement of the sleeves on each lead is done manually by an operator on the manufacturing floor. More particularly, the operator initially retrieves pre-cuts sleeves and then manually threads each lead through its respective sleeve thereby providing the needed insulation. Additionally, because the length of many of the leads often is often not satisfactory to accomodate the lacing process, threaded extension leads are generally spliced to each of the stator leads. In order to splice a lead to an extension lead, an operator typically positions a connecting end of the lead and extension lead within a cramping tool which then completes the splicing procedure. Manual sleeving and splicing of each lead wire is tedious, time consuming, and involves ongoing operator involvement during the stator manufacture cycle. 
     As part of the manufacturing process, each stator is introduced to a station at which lacing thereof occurs. Use of a stator coil lacing machine avoids many of the manual operations otherwise necessary for lacing or stitching stator end coils and thus reduces labor costs and increases productivity and quality. At the lacing station, an operator typically lifts the stator and places the stator on the lacing machine. The lacing machine generally includes a worktable having a cylindrical arbor protruding upward from a central portion of the worktable. The arbor serves to facilitate proper placement of the stator on the lacing machine and aids in rotating the stator as lacing takes place. Once lacing is completed, the stator is lifted off the arbor and removed from the lacing machine and placed back on the pallet. The longer the longitudinal length of the arbor, the more effort that is required to place the stator thereon and remove the stator therefrom. Insertion and removal of the stator from the arbor is especially difficult given the oftentimes substantial weight of each stator which includes a heavy metallic core. While use of a lacing machine provides advantages in lacing the stator coils, the need to physically move the stator from the conveyer belt pallet to the lacing machine and back again to the pallet is a tedious process which impedes the overall manufacturing process. 
     One characteristic of some stator coil lacing machines is that the leads of the stator coil windings must be manually held and moved during lacing of the coils of the stator. Typically, a stator includes several groups of leads for supplying power and other signals to the stator. The leads must be held and moved in order to appropriately position the leads with respect to one or more lacing needles of the stator coil lacing machine. Oftentimes the leads are manually moved and positioned such that a portion of each lead is stitched to the coil in a desired manner. This allows the leads to extend from the stator at a desired location rather than loosely falling at random positions. The desired location from which the leads extend is often caused to correspond to openings in the stator housing which provide the leads with access outside the housing. Thus, one or both of the hands of the operator of a stator coil lacing machine is/are often preoccupied in positioning the leads during lacing of the coils of the stator. This has the disadvantages of preventing the operator from performing other tasks during stator coil lacing and thus lowers his or her productivity. In addition, an operator needs to be cautious of mistakenly coming in contact with the moving components of the stator coil lacing machine such as the lacing needles. 
     Therefore, what is needed is a method and apparatus for manufacturing a stator which minimizes the amount of manual intervention needed so as to overcome the shortfalls discussed above and others. 
     SUMMARY OF THE INVENTION 
     Briefly, a method and apparatus for automating the manufacturing process of a stator is provided. The stator includes a metal core with conducting wires oriented axially through the metal core. The conducting wires are grouped together into end windings which converge at upper and lower ends of the metal core. A series of leads extend from the upper and lower ends of the metal core and provide the stator with electrical control and power signals. 
     During manufacture, the stator is moved through a series of manufacturing stations in which a sequence of automated steps are performed to the stator at each of the stations. In particular, the present invention provides for the stator to be introduced to a first station in which the leads of the stator are automatically shielded or sleeved in order to electrically isolate the leads from one another. The stator is then moved to a second station where the leads are automatically grouped according to a predefined criteria. Following grouping, the stator is moved to a third station where a selected set of leads are automatically spliced to extension wires to allow a proper length of each lead wire to extend from the stator following the lacing procedure. Finally, the stator is moved to a lacing station where both the end windings and leads are automatically laced according to a predefined lacing protocol. 
     Automated processes which occur at each of the stations are performed while the stator is situated on a rotatable support such as a pallet having a rotating assembly disposed therein. The rotatable support is moved from station to station via a conveyer belt or the like and allows the stator to be automatically rotated to various positions at each station. Further, at each of the first, second, and third stations, a robotic arm is used to facilitate placement and positioning of the leads. The robotic arm may, for instance, be controlled by a central computer which controls the robotic arm to perform certain predefined tasks. Thus, using a combination of the robotic arm and the rotatable support, the present invention substantially reduces the amount of time operators need to spend at each of these stator manufacturing stations and increases the overall speed, accuracy, and efficiency at which such steps are performed. 
     According to one particular aspect of the present invention a method of shielding a lead of a stator as the stator is situated on a pallet is provided. The method includes the steps of selecting the lead by a first robotic device and positioning a sleeve over at least a portion of the lead by a second robotic device. 
     According to another aspect of the present invention, a system for manufacturing a stator is provided. The system includes a pallet including a base portion, a first ring rotatably disposed within the base portion for supporting the stator, and a second ring rotatably disposed in the base portion, the second ring including a plurality of clips for releasably securing a plurality of leads extending from the stator. The system further includes a conveyer system for supporting the pallet and moving the pallet between a plurality of stations and a means for sleeving at least one of the plurality of leads of the stator at one of the plurality of stations. 
     According to still another aspect of the present invention, a method for grouping a plurality of leads of a stator situated on a pallet is provided. The pallet includes a rotatable assembly having a plurality of lead securing devices. The method includes the steps of positioning one of the plurality of leads secured to a first of the plurality of lead securing devices to a predetermined position, removing the one of the plurality of leads from the first of the plurality of lead securing devices, rotating a second of the plurality of lead securing devices to the predetermined position, and securing the one of the plurality of leads to the second of the plurality of lead securing devices. 
     According to yet another aspect of the present invention a system for grouping leads of a stator is provided. The system includes a pallet having an inner rotatable ring for supporting the stator and an outer rotatable ring with a plurality of lead securing devices. The system further includes a means for removing at least one of the leads from one of the plurality of lead securing devices and placing the at least one of the leads into another of the plurality of lead securing devices. 
     According to yet another aspect of the present invention a method of splicing a lead of a stator to an extension lead is provided. The method includes the steps of positioning by a first robotic device the lead of the stator to a crimping tool, positioning by a second robotic device the extension lead to the crimping tool, and splicing by the crimping tool the lead to the extension lead. 
     To the accomplishment of the foregoing and related ends, the invention then, comprises the features hereinafter fully described and particularly pointed out in the claims. The following description and the annexed drawings set forth in detail certain illustrative embodiments of the invention. These embodiments are indicative, however, of but a few of the various ways in which the principles of the invention may be employed. Other objects, advantages and novel features of the invention will become apparent from the following detailed description of the invention when considered in conjunction with the drawings. 
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS 
     In the annexed drawings: 
     FIG. 1 is a top view of a conveyer system passing through four stator manufacturing stations in accordance with the present invention; 
     FIG. 2 is a side elevation view partly in section of a stator situated on a pallet in accordance with the present invention; 
     FIG. 3 exploded front view in perspective of the stator situated on a pallet at one of the stations; 
     FIG. 4 is an exploded perspective view of the pallet; 
     FIG. 5 is a perspective view of the pallet; 
     FIG. 6 is a perspective view of a clip used in conjunction with the pallet; 
     FIG. 7 is a perspective view of a gear assembly used in the pallet; 
     FIG. 8 is a diagrammatic side view of a first station in which leads of the stator are automatically sleeved using a robotic device; 
     FIG. 9 is a diagrammatic top view of a first station in which leads of a stator are automatically sleeved using the robotic device; 
     FIG. 10 is a side view of a finger clamp of the robotic device; 
     FIG. 11 a  is a side view of a first robot device obtaining a lead wire from beneath the clip; 
     FIG. 11 b  is a side view of a second robot device positioning a sleeve adjacent the lead wire; 
     FIG. 11 c  is a side view of the second robot arm incrementing the sleeve over the lead wire; 
     FIG. 11 d  is a side view of the second robot arm incrementing the sleeve over the lead wire; 
     FIG. 11 e  is a side view of the second robot arm incrementing the sleeve over the lead wire; 
     FIG. 11 f  is a side view of the second robot arm completing positioning of the sleeve over the lead wire; 
     FIG. 12 is a top view of the second station in which the leads are grouped in accordance a predefined grouping protocol; 
     FIG. 13 is top view of the second station following grouping of each lead; 
     FIG. 14 is a top view of the third station in which a crimping tool splices or connects leads; 
     FIG. 15 a  is a side view of a robotic arm selecting a lead for splicing by the crimping tool; 
     FIG. 15 b  is a side view of a crimping tool splicing a lead to a threaded lead; 
     FIG. 15 c  is a side view of a robot device positioning a splice insulator sleeve for insertion over a spliced lead; 
     FIG. 15 d  is a side view of the splice insulator coupled to the spliced lead; 
     FIG. 16 is a side elevation view partly in section of the stator introduced to the lacting station; 
     FIG. 17 a  is a perspective view of the stator prior to the commencement of the lacing process; 
     FIG. 17 b  is a perspective view of the stator after a 90° counter-clockwise rotation during the lacing process; 
     FIG. 17 c  is a perspective view of the stator after a 180° clockwise rotation during the lacing process; 
     FIG. 17 d  is a perspective view of the stator after being reset 180° from its start point during the lacing process; 
     FIG. 17 e  is a perspective view of the stator after a 90° counter clockwise rotation during the lacing process; 
     FIG. 17 f  is a perspective view of the stator after a 180° clockwise rotation during the lacing process; and 
     FIG. 18 is a perspective view of the stator disposed in a stator housing. 
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     The present invention will now be described with reference to the drawings in which like reference numerals are used to refer to like elements throughout. 
     Turning now to FIGS. 1 and 2, a manufacturing facility is depicted in which a plurality of supports such as pallets  128  are situated in a spaced apart relationship along a conveyer system  130 . A stator  125  situated on each of the pallets  128  is moved through a series of manufacturing stations  112   a-d  (hereinafter collectively referred to as manufacturing stations  112 ) by the conveyer system  130 . The stator  125  includes a metal core  133  (FIG.  2 ), for example, formed from stacked laminations with conducting wires oriented axially through the metal core  133 . The conducting wires are grouped together into end coils or end windings  135  which converge into a generally toroidal shaped configuration at upper and lower ends  138   a,    138   b,  respectively, of the metal core  133 . Leads  150  extend from the end windings  135  situated on the upper end  138   a  of the metal core  133  and are used to provide the stator  125  with electrical control and power signals as is known in the art. For example, the leads  150  may provide the stator  125  with three phase power, thermal relay signals, etc. It will be appreciated that the stator  125  may include any number of sets of leads  150  depending on the operational requirements of the stator  125 . 
     During manufacture, the stator  125  is moved through the series of manufacturing stations  112  during which a sequence of automated steps are performed to the stator  125  during its manufacturing cycle. In particular, the present invention provides for the stator to be introduced to the first station  112   a  in which the leads  150  of the stator  125  automatically are sleeved in order to electrically isolate the leads  150  from one another. The stator  125  is then moved to the second station  112   b  where the leads  150  automatically are grouped according to a predefined criteria. Following grouping, the stator  125  is moved to the third station  112 c where a selected set of leads  150  are spliced together and/or to extension wires to allow a proper length of each lead  150  to extend from the stator prior to lacing. Finally, the stator  125  is moved to the fourth station  112   d  where both the end windings  135  and leads  140  automatically are laced according to a predefined lacing protocol. It will be appreciated, that while the present invention describes these manufacturing steps occurring in sequential fashion, it is possible for the stator  125  to be introduced to other stations in the manufacturing cycle both before and after any of the stations referred to herein and the present invention is not limited to a case in which all of these steps are performed back to back. 
     Referring now to FIGS. 2 and 3, each station  112  includes a slidable gear assembly  230  which is coupled to a station table  170  via track  233 . The slidable gear assembly  230  includes a bi-directional motor  235  coupled to drive gear  240  and is capable of rotating the drive gear  240  in both a clockwise and counter clockwise direction. A traction plate  245  is rigidly attached to the top of the bi-directional motor  235  and interfaces with the track  233  to allow the slidable gear assembly  230  to move horizontally in a direction depicted by arrows  236 . A pair of traction wheels  234  secured to the traction plate  245  provide for movement of the slidable gear assembly  230  within track  233 . The track  233  includes first and second track members  247   a  and  247   b  each mounted to the lacing table  170  using conventional mounting means and each track member  247   a,    247   b  defines a respective groove  249   a  and  249   b,  for receiving the traction plate  245  and traction wheels  234  of the slidable gear assembly  230 . A motor  246  (FIG.  2 ), attached to a side of the lacing table  170 , provides motive force to the traction wheels  234  of the slidable gear assembly  230  for movement along the track  233 . Alternatively, the traction wheels  234  may be controlled by a separate servo motor. 
     Turning now to FIGS. 3-7, the pallet  128  is described in more detail. The pallet  128  includes a base portion  229  which is generally rectangular in shape and includes a pair of flanges  300  suitable for situating the pallet  128  on the conveyer system  130  (FIG. 2) for movement through the manufacturing facility. To provide for rotation of the stator  125  at each of the respective stations  112 , the pallet  128  further includes a ring assembly  310  disposed therein. More particularly, the ring assembly  310  includes an outer ring  31   5  and an inner ring  320 . 
     As best seen in FIG. 4, the outer ring  315  includes inner and outer gear teeth  325 ,  330 , respectively. The outer gear teeth  330  have a pitch angle and spacing suitable for engaging with drive gear  240  (FIG.  3 ). The inner gear teeth  225  have a pitch angle and spacing suitable for engaging with gear assembly  250 . The outer ring  31   5  further includes lead clips  355  connected thereto. As will be discussed in more detail below, the lead clips  355  aid in positioning leads for operations done at each of the respective stations  112 . 
     As best seen in FIG. 6, the lead clips  355  include a base portion  357  and a cord securing member  359 . The base portion  357  is secured to a top surface of the outer ring  315  using flat head screws  358  or the like. The securing member  359  is folded across a top surface  360  of the base portion  357  and provides a downward force against the top surface  360  for releasably securing items therebetween. It will be appreciated that while the present embodiment describes clips  355  attached to the outer ring  315  for securing the leads  150 , other fasteners or securing devices may alternatively be used. 
     Returning again to FIG. 4, the inner ring  320  includes outer gear teeth  375  disposed about a periphery of the inner ring  320 . The outer gear teeth  375  have a pitch angle and spacing which is configured to interface with gear assembly  350 . The inner ring  320  includes a recessed step  379  which is sized to receive the metal core  133  of the stator  125 . The recessed step  379  provides for mitigating wobbling and/or falling of the stator  125  situated therein during the manufacture cycle. Furthermore, an opening  383  defined in a central portion of the inner ring  320  provides room for the end windings  135  on the lower end  138   b  (FIG. 2) of the stator core  133  to extend to an underside of the pallet  128  so that the end windings  135  are accessible for lacing or other manufacturing steps. 
     Both outer ring  315  and inner ring  320  are rotatably disposed in the pallet  128  to provide rotation of the stator  125  at each of the stations  112 . More particularly, the outer ring  315  is disposed in an outer ring receiving channel  390  (FIG. 4) defined in the pallet  128 . A bottom surface  394  of the outer ring receiving channel  390  includes a brass bushing (not shown) to aid in rotation of the outer ring  315  within channel  390 . The inner ring  320  is situated within an inner receiving groove  391  which includes inner ring receiving ledge  397 . Similar to the outer ring receiving channel  390 , the inner ring receiving ledge  397  includes a brass bushing to allow for rotation of the inner ring  320  during operation. It will be appreciated that ball bearings and/or other devices may be used in place of the brass bushings to aid in rotation of the inner ring  320  and outer ring  315 . 
     The outer receiving channel  390  and inner receiving groove  391  define a stationary middle ring  400 . The gear assembly  230  allows for synchronized movement of the outer ring  315  and inner ring  320 , and is connected to an underside of middle ring  400 . As best seen in FIG. 7, the gear assembly  350  includes three gears. A first gear  410  is coupled to the underside of the middle ring  400  via gear axle  415  and interfaces with the inner gear teeth  325  of the outer ring  315 . A second and third gear  420  and  425 , respectively, are rigidly attached to one another and are coupled to the underside of the middle ring  400  via gear axle  429 . The pitch angle and spacing of the second gear is configured to interface with the gear teeth of the first gear  410 . The pitch angle and spacing of the third gear  425  is configured to interface with the outer gear teeth  375  of inner ring  320 . The third gear  425  is also configured to provide for both the outer ring  315  and inner ring  320  to move at the same angular rotation about central axis “A” of the pallet  128  during lacing. More particularly, in the present embodiment the outer ring  315  has ten times the number of gear teeth  330  as the drive gear  240 . Thus, for example, if the drive gear  240  were to rotate at a speed of ten revolutions per minute, the outer ring  315  would rotate at a speed of one revolution per minute. As the outer ring  315  is rotated, the first gear  410  of the gear assembly  350  correspondingly is rotated via the inner gear teeth  325  of the outer ring  315 . The first gear  410 , in turn, engages rotation of both the second gear  420  and third gear  425 . Finally, the third gear  425  engages rotation of the inner ring  320  via outer gear teeth  375 . In order that the inner ring  320  is rotated at the same rotational speed as the outer ring  315 , the third gear  425  is specifically configured to have the appropriate the number of gear teeth to provide for equal rotational speed. For example, if the first and second gears  415  and  420  are rotated at the same rotational speed as the drive gear  240 , then the third gear  425  preferably would be configured to have one-tenth the number of gear teeth as the inner ring  320  thereby providing for the outer ring  315  and inner ring  320  rotate at the same speed. 
     Returning to FIG. 4, the pallet  128  further includes gear engaging apertures  440 ,  445  and  447  to allow for interaction between the drive gear  240  and outer ring  315 , and between the outer ring  315  and the inner ring  320  via gear assembly  350 . More particularly, the outer gear engaging aperture  440  is defined along a periphery of the outer ring channel  390  and is sized to allow the drive gear  240  to engage with the outer gear teeth  330  of the outer ring  315 . Furthermore, inner and outer gear assembly apertures  445  and  447 , respectively, are defined along an inner and outer periphery of the middle ring  400  and are each sized to allow the gear assembly  350  to engage with the outer ring  315  and inner ring  320 . 
     Referring back to FIG. 3, each pallet  128  further includes a lead lift assembly  450  which is primarily used during the lacing process. The lead lift assembly  450  includes ring portion  453  having a diameter just slightly larger than a diameter of the metal core  133  of the stator  125  such that the ring portion  453  may be freely lifted and lowered about the metal core  133 . The ring portion  453  further includes a pair of hooks  455   a,    455   b  which define a stitch window  460  through which a lacing needle  869  reaches the end windings  135  during lacing. The ring portion  453  is movably secured to the pallet  128  via three lead lift legs  458 . Each leg  458  includes a vertical section  461  and an angled section  463 . Each angled section  463  is rigidly coupled to the ring portion  453  and is angled sufficiently to position the ring portion  453  about the metal core  133 . Each vertical section  461  passes through a corresponding lead lift aperture  465  in the middle ring  400  of the pallet  128 . A spring  469  is secured to a distal end of each vertical section  461  using a lock nut  473 . An opposite end of the spring  469  abuts an underside of the middle ring  400 . The spring  469  provides a downward force on the lead lift assembly  450  to facilitate lowering of the lead lift assembly  450  following lacing at the lacing station  112   d  as discussed in more detail below. Of course, other means for aiding in lowering the lead lift assembly  450  such as placing weights on the distal end of the vertical section  461  may alternatively be used. 
     Turning now to FIGS. 8 and 9, the first station  112   a  is shown in more detail at which the leads  150  of the stator  125  are sleeved automatically. In order to provide automated sleeving, the first station  112   a  includes a first and second robotic device  500 ,  505 , respectively. The first robotic device  500  and second robotic device  505  each are coupled to a main frame computer system  600  (FIG. 1) which supply the devices with the appropriate instructions for carrying out the operations described herein. 
     The first robotic device  500  is mounted to a ceiling or other rigid structural member in the manufacturing facility. The robotic device  500  includes a stepper motor  510  providing vertical movement to an arm positioning assembly  520  via support stem  523 . In the present embodiment, three retractable arms  530   a,    530   b,    530   c  (collectively referred to as retractable arms  530 ) extend from the arm positioning assembly  520  and are positionable in a substantially horizontal direction by the arm positioning assembly  520 . In order to individually position each retractable arm  530 , the arm positioning assembly  520  includes three positioning motors  535   a,    535   b,    535   c  (collectively referred to as positioning motors  535 ) disposed within a housing  536  of the arm positioning assembly  520 . Each positioning motor  535  couples to a respective retractable arm  530  and applies conventional techniques to extend and retract the retractable arm  530  from the housing  536 . A distal end of each retractable arm  530  is coupled to a respective finger clamp  550   a,    550   b,    550   c  (collectively referred to as finger clamp  550 ) through a finger clamp control unit  555   a,    555   b,    555   c  (collectively referred to as control unit  555 ). As shown in FIG. 10, each finger clamp  550  includes a pair of fingers  560  which are positionable by the control unit  555  to lift and secure items therebetween. 
     The second robotic device  505  at the first station  112   a  is mounted to a work table  570  via a horizontal and vertical positioning motor  573 . The positioning motor  573  includes conventional electrical and mechanical components for positioning a robot arm. Further, the positioning motor  573  includes a conventional resistance detector  574  which serves to detect the amount of resistance in movement of a robot arm the positioning motor  573  is experiencing at any given time. An arm assembly  575  coupled to the positioning motor includes a first and second retractable arm member  577 ,  579 . Each retractable arm member  577 ,  579  may be elongated or shortened in response to signals received from the positioning motor  573  to obtain desired positioning of the arm members  577 ,  579 . An end of the second arm member  579  is coupled to a finger clamp support  581 . A first and second finger clamp  583   a,    583   b  (collectively referred to as finger clamp  583 ) each couple to the finger clamp support  581  through a respective finger clamp control unit  585   a,    585   b  (collectively referred to as control unit  585 ). The finger clamps  583  and finger clamp control units  585  each are similar in structure to the finger clamps  550  discussed above with respect to the first robotic device  500 . Robotic devices similar to those described herein and suitable for use in connection with the present embodiment are commercially available from Robo-Tech Systems, Inc., Westerville, Ohio and Robotic Accessories, Tipp City, Ohio. 
     Also included at the first station  112   a  is a spool of sleeve material  590 . The spool  590  is supported on the work table  570  by way of support member  592  and is rotatable about axis  595 . A sleeve guide post  597  mounted to the work table  570  aids in guiding the electrically insulating sleeve material  605  as it is dispensed from the spool  595 . Further, a conventional sleeve cutter  599  also is mounted to the work table  570  and serves to cut the sleeve material  605  to an appropriate size as discussed in more detail below. 
     Prior to introducing a stator  125  to the first station  112   a,  each of the leads  150  of the stator  125  manually is pre-positioned under a preassigned clip  355  on the outer ring  315 . For instance, as shown in FIG. 9, eight leads labeled L 1 , L 2 , L 3 , L 4 , L 5 , L 6 , L 7  and L 8  each are positioned under a respective clip  355  preassigned for that lead  150 . The preassigned positions of each lead  150  is also stored in the main frame computer  600  and is used by the computer  600  to determine the particular tasks to be performed to each lead  150  as discussed in more detail below. 
     Upon introducing the pallet  128  to the first station  112   a  in which the leads  150  are sleeved automatically, the slidable gear assembly  230  (FIG. 3) engages with the gear teeth  330  disposed about an outer periphery of the outer ring  315  and serves to rotate the ring assembly  328  according to instructions received from the computer  600 . In particular, the ring assembly  328  is rotated until lead L 1  is positioned at a sleeving post  625  (FIG. 9) where sleeving takes place as discussed in more detail below. Further, upon engagement of the slidable gear assembly  230  with the outer ring  315 , the locking pin disposed within the pallet  128  is released to allow the inner an outer rings  320 ,  315  to rotate about a central axis of the pallet  128 . 
     Next, as shown with respect to FIG. 11 a  the computer  600  directs the first robotic arm  500  to remove the lead  150  currently introduced to the sleeving post  625  from the clip  355  which in this case is lead L 1 . In particular, the stepper motor  510  lowers the arm positioning assembly  520  to a first predetermined position such that the third finger clamp  550   c  substantially is at the same height as an end of the lead L 1 . Next, the arm positioning assembly  520  horizontally positions the third finger clamp  550   c  to a second predetermined position such that the end of lead L 1  is positioned between the fingers  560  (FIG. 10) of the third finger clamp  550   c.  Following this step, the fingers  560  are moved towards one another so as to capture and secure the end of lead L 1 . 
     Referring now to FIG. 11 b,  once the end of lead L 1  is secured by the third finger clamp  550   c,  the robotic device  500  positions the end to a predetermined x, y, and z position in space. Next, the first and second finger clamps  550   a,    550   b,  respectively, secure intermediate portions of the lead L 1  thereby holding the lead L 1  in a substantially horizontal plane. 
     During the time in which the first robotic device  500  properly secures and positions the lead L 1 , the second robotic device  505  is directed by the computer  600  to obtain an appropriately sized sleeve for placement on the lead L 1 . More particularly, in order to obtain the appropriately sized sleeve, the second robotic device  505  initially positions its first and second finger clamps  585   a,    585   b  to secure a portion of the sleeve material  605  dispensed from the spool as shown in dashed lines in FIG.  8 . Securing of the sleeve by the first and second finger clamps  585   a,    585   b  is done similar to that described above with respect to the finger clamps  555  of robot device  500 . Once secured, the robot device  505  pulls the sleeve off the spool  590  in a direction indicted by arrow  606  until an predetermined amount of sleeve material has passed over the sleeve cutter  599 . Next, the computer  600  directs the sleeve cutter  599  to slice the sleeve in a conventional manner. Following this step, the second robot device  505  directs the cut sleeve  620  to a position adjacent the end of the lead L 1  as shown in FIG. 11 b.    
     As shown in FIG. 11 c,  once lead L 1  and sleeve  620  are positioned properly, the computer  600  directs the second robot device  505  to move the sleeve towards the third finger clamp  550   c  such that a receiving aperture (not shown) in the sleeve  620  receives the end of lead L 1 . Upon reaching the third finger clamp  550   c,  the first robot device  500  directs the third finger clamp  550   c  to release the lead L 1 . 
     Referring now to FIG. 11 d,  following release of lead L 1  by the third finger clamp  550   c,  the robot device  505  moves the sleeve  620  until an end of the sleeve abuts the second finger clamp  550   b.  Once positioned at the second finger clamp  550   b,  the opposite end of the sleeve  620  will have cleared the third finger clamp  550   c.  Thus, the third finger clamp  550   c  again secures the end of lead L 1  to provide tension to lead L 1  during the sleeving process. Also, the second finger clamp  550   b  releases the lead L 1 , thereby allowing the sleeve  620  to be moved past that location. 
     As shown in FIG. 11 e,  following release of the lead L 1  by the second finger clamp  550   b,  the second robot  505  moves the sleeve  620  towards the first finger clamp  550   a.  Once the sleeve  620  abuts the first finger clamp  550   a,  the first finger clamp  530   a  releases the lead L 1 . 
     Finally, as shown in FIG. 11 f , the second robot device  505  moves the sleeve until an end of the sleeve abuts a stator slot (not shown) in the metal core  133  through which the lead L 1  extends from the stator  125 . Determination of when the sleeve  620  has been properly positioned is accomplished by the second robot  505  by monitoring the amount of resistance faced by the robot arm  577 ,  579  in moving the sleeve as measured by the resistance detector  574  (FIG.  8 ). Thus, when a the robot device  505  determines that a predetermined amount of resistance has been sensed indicating that the sleeve  620  may not be moved any closer to the stator core  133 , the robot device  505  is directed to disengage the sleeve  620 . Following release of the sleeve  620  by the second robot device  505 , the first robot device  500  re-secures the lead under the clip  355  from which it was originally taken. 
     Upon completion of sleeving of lead L 1 , the slidable gear assembly  230  engages with the gear teeth  330  disposed about an outer periphery of the outer ring  315  to index the ring assembly  328  until each of the remaining leads L 2 -L 8  is positioned at a sleeving post  625  (FIG. 9) and is sleeved in accordance with the procedures set forth above with respect to FIGS. 11 a - 11   f.  Thus, the present invention provides an automated sleeving process which increases the efficiency of the overall manufacturing cycle and allows operators to be free to perform other tasks. 
     Turning now to FIGS. 12 and 13, the second station  112   b  is depicted at which the leads  150  of the stator  125  are grouped under an pre-assigned clip  355  on the outer ring  315  as determined by the computer  600 . Grouping of the leads  150  enables them to be connected in an appropriate manner at the third station  112   c.  For instance, those leads which need to be jumpered or parallel connected together may be grouped under one clip while those leads to which a stranded lead extension needs to be added may be placed under their own respective clip. In order to select and move each lead  150  to its assigned location, the second station  112   b  includes a third robot device  675  which is substantially similar to the first robot device  500  described above with respect to the first station  112   a,  and therefore is not again discussed in detail for sake of brevity. 
     Upon introducing the pallet  128  to the second station  112   a,  a slidable gear assembly  230  at the second station  112   b  engages with the ring assembly  328  and rotates the ring assembly  328  according to instructions received from the computer  600 . In particular, the gear assembly  230  initially is directed to index the ring assembly  328  such that each lead L 1 -L 8  is introduced to a grouping station. At the grouping station  680  the third robot device  675  lifts the lead introduced to the grouping station  680  from the clip  355  in a manner similar to that described above with respect to FIG. 11 a.  Next, the gear assembly  230  is directed to rotate the ring assembly  328  until the clip  355  under which the lead  150  held by the third robot device  675  is to be positioned is at the grouping station  680 . Finally, the third robot device  675  re-clips the lead under the assigned clip  355 . For instance, as shown in FIG. 12, lead L 8  has been repositioned from its original clip  355  to its assigned clip  355 . This process continues until the leads  150  have been re-positioned according to the grouping protocol stored in the computer  600 . For instance, as shown in FIG. 13, the grouping protocol of the present embodiment has grouped leads L 1  and L 2  under one clip, leads L 3  and L 4  under another clip and leads L 5 -L 8  under their own individual clips. 
     Referring now to FIG. 13, the third station  112   c  is shown in more detail. The third station  112   c  provides for automated splicing and crimping of the leads  150  prior to lacing. Further, the third station  112   c  provides for automated sleeving of any spliced connections to facilitate insulation of the leads  150 . 
     In order to connect two or more leads, the third station  112   c  includes a conventional crimping tool  700 . Also included at the third station  112   c  is a fourth and fifth robot device  710 ,  720 , respectively. The fourth robot device  710  substantially is similar to the first robot device  500  discussed above with respect to the first station  112   a.  Likewise, the fifth robot device  710  substantially is similar to the second robot device  505  discussed above with respect to the first station  112   a.  As such, details regarding the forth and fifth robot devices  710 ,  720  is not again provided for sake of brevity. 
     Also positioned at the third station  112   c  is a spool of insulated threaded lead wire  725  and a spool of sleeve material  730 . Both spool  725  and spool  730  have associated therewith a respective guide post  740 , 742  and a respective cutting device  745 , 748 . The spools  725 ,  730 , guide posts  740 ,  742  and cutting devices  745 ,  748  are all similar in construction to the spool  590 , guide post  597  and cutting device  599  described above with respect to Fig. 8 . 
     Referring now to FIGS. 15 a - 15   d,  the operations performed at the third station  112   c  is described in more detail. Upon introducing the pallet  128  to the third station  112   a,  a slidable gear assembly  230  at the third station  112   c  engages with the ring assembly  328  and rotates the ring assembly  328  according to instructions received from the computer  600 . In particular, the gear assembly  230  is directed to index each clip  355  currently securing one or more leads to a crimping station  780  (FIG. 14) so that the lead may be appropriately connected with the aid of the fourth and fifth robot devices  710 ,  720 , respectively. 
     For example, as shown in FIG. 15 a,  lead L 6  has been introduced to the crimping station  780  and initially is removed from its clip by robot device  710 . The manner in which the robot device  710  removes the lead L 6  is similar to that described above with respect to FIG. 11 a. Next, with respect to FIG. 15 b,  the robot device  710  positions the lead L 6  in one end of the crimping tool  700 . During the time robot device  710  positions the lead L 6  within the crimping tool  700 , robot device  720  retrieves a cut portion of a stranded lead wire  782  from the spool of threaded lead wire  725  in a manner similar to that described above with respect to robot device  505  retrieving a sleeve  620  from spool  590 . Further the robot device  720  positions the stranded lead wire  782  into the crimping tool  700 . Once both lead L 6  and the stranded lead wire  782  are positioned within the crimping tool  700 , the crimping tool  700  splices the leads together. 
     Next, as shown in FIG. 15 c,  the fifth robot device  720  retrieves a cut sleeve  785  from the spool of sleeve material  730  to serve as a splice insulator. The sleeve  785  includes a receiving aperture sized sufficiently large to fit over the stranded lead  782 . Thus, as shown in FIG. 15 d,  the fifth robot device  720  positions the sleeve  785  over the splice connection in a manner similar that described above with respect to FIGS. 11 a - 11   f.  Once positioned over the splice connection, the fifth robot device  720  uses its finger to squeeze the sleeve  785  into place thereby insulating the splice connection. Once completed, the robot devices  710 ,  720  reposition the lead(s) into the clamp  355  from which it was removed and returns to the crimping station  780  to await the next group of leads  150 . In the present embodiment, each stranded lead  782  spliced to a lead wire  150  includes a different number or other identifying indicia pre-printed on its outer insulation in order that an operator may distinguish between different leads  150  after lacing. 
     If the next group of leads  150  is a group which is to be jumpered together rather than spliced to a threaded lead, the computer system  600  directs the fourth robot device  710  to position the leads into the crimping tool  700  and directly connect the leads together. This process of jumper connecting and splicing wires continues until all of the groups of leads have been appropriately handled in accordance with the instructions received from the computer. 
     Turning now to FIG. 16, the fourth station  112   d  at which lacing occurs is shown in more detail. The fourth station  112   d  includes a lacing machine  865  for lacing the end windings  135  and leads  150  of the stator  125 . The lacing machine  865  includes an upper lacing section  822  and a lower lacing section  822 ′. Both the upper lacing section  822  and the lower lacing section  822 ′ include corresponding components for lacing of the upper portion  138   a  and lower portion  138   b  of the end windings  135 , respectively. Thus, components of the lower lacing section  822 ′ which correspond to components of the upper lacing section  822  are identified with the same reference numeral but with a prime “′”. For sake of brevity, the following description will discuss only the components of the upper lacing section  822 , however, it will be appreciated that the components of the lower lacing section  822 ′ are similarly connected and configured as shown in FIG.  16 . 
     The upper section  822  of the lacing machine  865  is mounted to a frame  868  which is secured to a lacing table  870  using mounting bolts  871  or other conventional securing techniques such as screws, adhesives, etc. The lacing machine  865  includes a positionable lacing needle  869  for lacing of the end windings  135  on the upper portion  138   a  of the metal core  133 . The lacing needle  869  is secured to vertical movement platform  873  of the frame structure  868  via needle housing  875 . The platform  873  is coupled to vertical movement motor  878  via support rod  880 . The vertical movement motor  878  serves to raise and lower the platform  873  thereby allowing for vertical positioning of the lacing needle  869 . Rotational positioning of the lacing needle  869  is accomplished by way of rotation rod  885  and rotation motor  890 . More particularly, rotation rod  885  connects at one end to rotation motor  890  via gear assembly  893  and at the other end to lacing needle  869 . Thus, upon operation of the rotation motor  890 , the rotation rod  885  causes the lacing needle  869  to rotate about an axis  894  to a desired position for lacing of the end windings  135 . The lacing needle  869  is also coupled to threading motor  895  via threading rod  899 . The threading motor  895  and threading rod  899  provides the lacing needle  869  with in/out movement in a direction substantially parallel to axis  894  of the lacing needle  869 . 
     The lacing machine  65  further includes a bobbin  903  for providing and directing a lacing cord  905  to an appropriate position with respect to the coil windings  135  to allow lacing to take place. A rotational direction of the bobbin  903  is controlled by bobbin motor  906  via bobbin control rod  909 . The bobbin control rod  909  couples to the bobbin motor  905  via gear assembly  911  which rotates the bobbin control rod  909  in response to operation of the bobbin motor  905 . Similar to the lacing needle  869 , vertical positioning of the bobbin  905  is achieved by way of the vertical movement motor  878  appropriately positioning the platform  73  to which the bobbin  905  is secured. More particularly, as shown in phantom in FIG. 16, the vertical movement motor  878  allows both the bobbin  903  and lacing needle  869  to be positioned above or below the upper end  138   a  of the stator coil end windings  135  during lacing as indicated by arrows  807 . Thus, for example, the bobbin  903  may be positioned inside or outside of a cavity defined by the end winding  135 . It will be appreciated that while the present embodiment shows the vertical positioning of the bobbin  903  and lacing needle  869  to be controlled by the same motor  868 , a separate stepper motor or other device could additionally or alternatively be coupled to each to allow for individual vertical positioning of the bobbin  903  and the lacing needle  869 . 
     Also secured to the frame  868  is threading assembly  915 . The threading assembly  915  is secured to the platform  873  and moves in conjunction with the vertical positioning of the platform  873  as controlled by vertical movement motor  878 . The threading assembly  915  includes a clamp (not shown) for securing the lacing cord  905  during certain portions of the lacing cycle and includes a shear (not shown) for cutting the lacing cord  905  as needed during the lacing cycle. Interaction between the bobbin  903 , lacing needle  869 , and threading assembly  915  is generally known in the art and is therefore not discussed in greater detail for sake of brevity. 
     Also included at the forth station  112   a  is a vertical positioning device  965  (FIGS.  16  and  3 ). The vertical positioning device  965  is used to aid in placement of the leads  150  during lacing as discussed in more detail below. The vertical positioning device  965  includes a stepper motor  970  having a lift member  972  extending therefrom and a lead lift plate  975 . The lead lift plate  975  is rigidly secured to a top of the lift member  972 . The stepper motor  970  provides for movement of the lead lift plate  975  in substantially a vertical direction as depicted by arrows  983 . The stepper motor  970  is situated on platform  985  (FIG. 16) which is secured to the lacing table  870  using conventional techniques. 
     In operation, the present invention provides for an automated stator lacing process which minimizes the amount of operator intervention needed to lace the end windings  135  and leads  150  of the stator  125 . More particularly, lacing of the end windings  135  and leads  150  is performed during an automated process which occurs while the stator is situated on the pallet  128  during a manufacturing cycle. Thus, it is not necessary for an operator to lift the stator  125  from the pallet  128  and place the stator  125  over an arbor of a separate lacing machine. Furthermore, the automated lacing process automatically laces the end windings  135  and leads  150  of the stator  125  according to a predefined lacing pattern to ensure that the leads  150  extend from the end windings  135  at one or more desired locations without the need for an operator to manually guide the leads  150  during lacing. 
     The stator  125  is placed on pallet  128  at a first station at the start of a manufacturing process and is moved by the conveyer system  130  from one station to the next. In order to stabilize the stator  125  from movement, the metal core  133  is placed on the recessed step  379  of the inner ring  320 . Additionally, in order to reduce the risk that the stator  125  is not inadvertently rotated or moved by the inner ring  320  upon which the stator  125  is situated, both the inner ring  320  and outer ring  315  are secured from rotational movement using spring loaded locking pin  316  (FIG.  2 ). The locking pin  316  is movably mounted to a lower portion of the platform  128  adjacent an area where the slidable gear assembly  240  engages with the outer ring  315 . A spring (not shown) associated with the locking pin  316  provides sufficient force to engage the locking pin  316  between a pair of gear teeth on the outer ring  315  when the slidable gear assembly  240  is not engaged. When the slidable gear assembly  230  is engaged, the traction plate  245  of the slidable gear assembly  230  engages with the locking pin  316  so as to move the locking pin  316  away from the gear teeth on the outer ring  315  thereby allowing for rotation of the inner ring  320  and outer ring  35  by the drive gear  240 . 
     Upon introduction of pallet  128  to the fourth station  112   d,  the slidable gear assembly  230  engages with the outer gear teeth  330  of the outer ring  315 . Once engaged, the locking pin  316  unlocks the outer ring  315  and inner ring  320  such that each may rotate about central axis A. Prior to lacing, the lacing needle  869  automatically is positioned to a predetermined position adjacent the stitch window  460  using motors  890  and  878 . Of course, an operator may adjust the placement of the lacing needle  869  via an operator control panel (not shown) if desired. 
     Referring now to FIGS. 17 a - 17   f,  an embodiment of the present invention is shown in which lacing of the end windings  135  and leads  150  occurs such that the leads  150  ultimately extend from the end windings  135  at two points spaced 180° apart from one another. It will be appreciated that while FIGS. 17 a - 17   f  primarily focus on the end windings  135  on the upper end  138   a  (FIG. 1 a ) of the metal core  133 , the end windings  135  on the lower end  138   b  of the metal core  133  are laced similarly by the lacing machine  865 . Starting with FIG. 17 a,  stator  125  is shown situated on pallet  128  just prior to the beginning of a lacing process at lacing station  120 . In this particular embodiment there is shown two sets of leads  150 , however, it will be appreciated that the stator  125  may include any number of sets of leads  150 . As discussed above, each of the sets of leads  150  is clipped to a predefined clip  355  on the outer ring  315 . The clips  355  provide tension to the leads  150  while still allowing the leads  150  to be pulled through the clip  355  when taken up during the lacing process. In order to facilitate proper placement of the leads  150  during lacing, the vertical positioning device  965  (FIG. 16) raises the ring portion  453  of the lead lift assembly  450  prior to rotation of the stator  125 . In order to raise the ring portion  453 , the stepper motor  970  raises the lead lift plate  975  such that the lead lift plate  975  engages the three legs  458  of the lead lift assembly  450 . The lead lift plate  975  then lifts the ring portion  453  via the legs  450  until the ring portion  453  substantially is flush with a top of the end windings  135  as depicted in FIG. 7 a.  As the ring portion  453  of the lead lift assembly  450  is raised, a portion of the leads  150  are also lifted by the ring portion  453 . Once the lead lift assembly  450  is raised, rotation of the stator  125  and lacing by the lacing needle  869  begins. 
     Referring now to FIG. 7 b,  the outer ring  315  and inner ring  320  initially are rotated 90° in a counter clockwise direction. Rotation of the outer ring  315  is accomplished by way of the bi-directional motor  235  rotating the drive gear  240  in a clockwise direction an appropriate number of revolutions. As discussed above, the gear assembly  350  provides for the outer ring  315  to rotate the inner ring  320  an equal amount. During rotation, the lacing needle  869  is controlled via threading motor  895  and laces the end windings  135  and leads  150  which are presented to the stitch window  460 . Because the stator  125  and clips  355  are rotated while the lead lift assembly  450  remains stationary, the hook  455   a  of the lead lift assembly  450  catches the lead  150   a  and positions the lead  150   a  in the stitch window  460  such that a portion of the lead  150   a  is laced to the end windings  135  as depicted by lead stitched portion  1075   a.  The clips  355  facilitate the leads  150  remaining tense during the lacing process so that the leads  150  may be properly positioned by hooks  455 . 
     Next, as shown in FIG. 7c, the drive gear  240  rotates the outer and inner rings  315 ,  320 , respectively, 180° degrees in a clockwise direction. Again, during this rotation the lacing needle  869  continues to lace end windings  135  and leads  150  introduced to the stitch window  460 . Thus, in this particular embodiment, the lacing needle  869  double stitches the end windings  135  and lead  150   a  in the region represented by lead stitched portion  475   a  during the first 90° clockwise rotation and then continues to lace a new portion of the end windings  135  during the remaining 90° clockwise rotation. 
     Next, as shown in FIG. 7 d,  the lead lift assembly  450  is lowered by the vertical positioning device  965  by virtue of the stepper motor  970  lowering the lead lift plate  975  (FIG.  3 ). Following lowering of the lead lift plate  975 , the drive gear  240  rotates the stator  125  such that the stator  125  is rotated 180° from its initial start point in FIG. 7 a.  During this rotation, the lacing needle  869  is not active. Following the 180° rotation, the lead lift assembly  450  is again raised by the stepper motor  970  such that the ring portion  453  substantially is flush with the top portion of the end windings  135 . 
     Referring now to FIG. 7 e,  the drive gear  240  again rotates the outer ring  315  and inner ring  320  90° in a counter-clockwise direction. During this rotation, the lacing needle  869  stitches the lead  150   b  to the end windings  135  along a region depicted by lead stitched portion  475   b.  Finally, as shown in FIG. 7 f,  the drive gear  240  rotates the outer ring  315  and inner ring  320  in a 180° clockwise direction. Similar to that described above with respect to FIG. 7 c,  during the first 90° clockwise rotation the lacing needle  69  double stitches the end windings  135  and leads  150   b  over the region depicted by lead stitched portion  475   b.  During the remaining 90° degree rotation the lacing needle  869  stitches the remaining end windings  135  introduced to the stitch window  360 . Following the final 180° clockwise rotation, the lacing protocol is completed and the end windings  135  on both the upper end  138   a  and lower end  138   b  of the metal core  133  are laced about the entire 360° circumference of the metal core  133 . It will be appreciated that the leads  150   a,    150   b  are laced to the end windings  135  such that each set of leads  150   a,    150   b  departs from the stator  125  at a desired location which in the present embodiment is at opposite points along a circumference of the end windings  35 . Often times the points at which each set of leads  150   a,    150   b  is configured to depart from the end windings  135  will correspond to one or more lead apertures  1090  predefined in a stator housing  1100  as shown in FIG.  18 . In this manner, the leads  150  remain easily accessible to an operator after the stator  125  has been placed into its housing  1100 . Following completion of the lacing protocol, the stepper motor  970  lowers the lead lift assembly  950  by way of lowering the lead lift plate  975 . During lowering, the springs  473  (FIG. 3) also provide a downward force on the lead lift assembly  450  to facilitate proper retraction of the lead lift assembly  450 . Finally, the slidable gear assembly  230  is retracted from the outer ring  320  using motor  246  and the locking pin  316  is engaged to facilitate the outer ring  315  and inner ring  320  not rotating as the pallet  128  is moved by the conveyer system  130  to the next station in the manufacturing cycle. 
     While the present embodiment shows a stator  125  having two sets of leads  150   a  and  150   b,  it will be appreciated that if three or more sets of leads  150  were included on the stator  215 , all of the sets of leads  150  would still have departed from the stator  125  at one of the two points shown in FIG. 17 f.  Furthermore, by rotating the stator  125  in both clockwise and counter clockwise directions and by resetting the stator positioning as shown with respect to FIG. 17 g,  the present embodiment provides for a lacing technique which reduces the area in which leads  150  overlap on the end windings  135  during lacing. While overlapping of leads  150  during lacing does not effect the operations of the stator  125 , it may in some instances provide the end windings  135  of the stator to have areas of higher or lower elevation thereby making it more difficult to properly fit the stator  125  in the stator housing  1100 . 
     In an alternative embodiment of the present invention, it may be desirable to lace the end windings  135  and leads  150  such that the leads  150  all depart from the stator  125  at a single point. In such a case, the lacing protocol may, for example, be set to rotate the outer ring  315  and inner ring  320  in a 360° clockwise or counter clockwise direction while the lacing needle  69  laces in the stitch window  460 . Alternatively, to reduce lead  150  overlap on the end windings  135 , the lacing protocol may rotate the stator  125  180° in a first direction, and then reset the stator  125  to its original position and finally rotate the stator 180° in the opposite direction. Similarly, a number of other lacing protocols may alternatively be used. 
     In still other alternative embodiment of the present invention, it may be desirous to have leads  150  depart from the stator  125  at three or more points about a circumference of the end windings  135 . For example, if it were desirous to have three depart points, the drive gear  240  may rotate the outer ring  315  and inner ring  320  in three 120° rotations during which lacing by lacing needle  869  is reset between each 120° rotation to provide for three lead depart points. Similarly, if four or more depart points were desired, the drive gear  240  and lacing needle  869  may be configured to, rotate and lace the end windings  135  and leads  150  as needed. It will be appreciated that the present invention is intended to cover all such lacing protocols. 
     The invention has been described with reference to the preferred embodiments. Obviously, modifications and alterations will occur to others upon reading and understanding the preceding detailed description. For example, while the above embodiments depict robotic devices having three finger clamps, it is possible to utilize robotic devices having one or more finger clamps. Further, while the above embodiments show the ring portion  453  of the lead lift assembly  450  to include only one pair of hooks  455  defining a single stitch window  460 , it will be appreciated that the lead lift assembly  450  may include additional hooks  455  defining multiple stitch windows. Additionally, while the above embodiments show a single drive gear  240  to drive both the outer ring  315  and inner ring  320 , it will be appreciated that separate drive gears could alternatively be used for each of the rings  315 ,  320 . It is intended that the invention be construed as including all such modifications and alterations, and equivalents thereof and is limited only by the scope of the following claims.