Patent Publication Number: US-11638945-B2

Title: Truing machine and method for magnesium components

Description:
CROSS-REFERENCE TO RELATED PATENT APPLICATIONS 
     This application claims the benefit of and priority to U.S. Provisional Patent Application No. 62/269,749, filed Dec. 18, 2015. U.S. Provisional Patent Application No. 62/269,749 is incorporated by reference herein in its entirety. 
    
    
     SUMMARY 
     One embodiment relates to a machine for bending a cast or stamped component into compliance with dimension and tolerance requirements, the machine including a base and at least one fixed holding device coupled to the base and configured to hold a corresponding datum of the component. The machine further includes at least one bending device coupled to the base and configured to engage a corresponding bending datum of the component, and a control system configured to control the at least one fixed holding device and the at least one bending device during a manipulation routine. The at least one fixed holding device is configured to hold the component in a predetermined spatial orientation relative to the base. The at least one bending device is configured to plastically deform the component. 
     Another embodiment relates to a method of truing a stamped or cast component for a vehicle, the method including receiving the component in a truing machine and holding the component at first, second, and third datums with first, second, and third holding devices, respectively, in a known spatial orientation. The method further includes measuring with at least one measurement device, at least one of a fourth datum of the component or a bending location of the component. The method further includes evaluating measurements from the at least one measurement device for compliance with predetermined dimensional requirements. The method further includes determining, based on the measurements, a manipulation routine, and performing the manipulation routine configured to bring the component within the dimensional requirements. 
     BACKGROUND 
     To meet federal vehicle regulations and consumer preferences for ever-increasing fuel economy, vehicle manufacturers seek to reduce vehicle weight, while still satisfying various other, potentially competing regulations (e.g., safety) and consumer preferences (e.g., cost and quality). One manner by which vehicle manufacturers may reduce vehicle weight is by replacing vehicle components made from traditional materials (e.g., steel) with components made from other lighter weight materials (e.g., aluminum or magnesium and alloys thereof) with the biggest weight savings achieved by replacing heavier and/or larger components. With these new and/or larger-format applications of lighter materials, vehicle manufacturers and especially suppliers are being challenged with producing vehicle components in compliance with component dimension and tolerance requirements. For example, casting or stamping large-format magnesium (e.g., magnesium-alloy) components (e.g., vehicle lift gate frame or internal structure) may produce cast or stamped components that are warped relative to the vehicle manufacturer&#39;s dimension and tolerance requirements. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    is a top plan view of a vehicle component shown in the form of a magnesium lift gate for a vehicle. 
         FIG.  2    is a plan view of a truing machine according to an exemplary embodiment. 
         FIG.  3    is another plan view of a truing machine having a vehicle component provided thereon according to an exemplary embodiment. 
         FIG.  4    is a flow diagram showing a method of truing a component according to an exemplary embodiment. 
     
    
    
     DETAILED DESCRIPTION 
     According to an exemplary embodiment, manufacturing equipment and processes are provided to produce a cast or stamped magnesium component in compliance with a manufacturer&#39;s dimension and tolerance requirements. The manufacturing equipment and processes contemplated herein generally include a post-forming or stamping truing machine and process, which holds and bends, at various locations or regions, a magnesium component that is initially warped (i.e., after casting or stamping, has a static form outside the vehicle manufacturer&#39;s dimension and tolerance requirements) to become trued (i.e., after truing has a static form that is within the manufacturer&#39;s requirements). More specifically, and as discussed in further detail below, the equipment and processes require holding a component in a fixed, known orientation and applying forces at various locations of the component to bend the component into compliance with the manufacturer&#39;s requirements. 
     The manufacturing equipment and process may also include casting or stamping equipment/processes (e.g., molds or dies, etc., and related processes for forming the component), other post-forming equipment/processes (e.g., machining and/or attachment equipment and processes, for example, to create apertures or other features with greater precision than possible during the casting or stamping processes), and/or line transport equipment/processes (e.g., to move components from a moving assembly line or other location to and/from the truing machine). 
     With reference to  FIGS.  1  and  2   , as an example, the component  10  (depicted schematically) may be a magnesium lift gate frame for a vehicle, which forms an internal structure of a lift gate assembly to provide various structural properties to the lift gate assembly (e.g., crash energy absorption, attachment points and features, etc.). The lift gate frame has a generally rectangular periphery  10   a  (i.e., having predominant left  11 , right  12 , upper  13 , and lower  14  edges or sides) and is generally flat, albeit with a three-dimensional profile (e.g., various protrusions, recesses, varying thickness, etc. for structural, attachment, and various other functional and/or aesthetic purposes). For example, the lift gate frame may include various recesses, protrusions, and/or other curvatures but still be relatively flat with all surfaces of the lift gate frame being within a few inches (e.g., +/− approximately 5 inches) or a relatively small distance (e.g., +/− approximately 20% of a maximum distance between left  11  and right  12 , or top  13  and bottom  14 , sides of the lift gate frame) of a single plane passing through the lift gate. The lift gate frame may also include a central large aperture  15  (e.g., to accommodate a rear window of a vehicle). The aperture  15  may have a generally continuous inner periphery  15   a  (e.g., having a predominant concave curvature relative to a center of the aperture  15 ), or may include, as shown, protrusions extending toward the center of the aperture  15  (e.g., the aperture periphery  15  having features with a convex curvature protruding toward the center of the aperture). 
     While the equipment and processes are discussed herein both generically and with respect to cast or stamped magnesium vehicle lift gate frames, it is contemplated that such equipment and processes are also applicable to other materials having similar manufacturing challenges or properties (e.g., casting or stamping properties, such as warping, for example, with aluminum), other types of vehicle components (e.g., structure, frame, or panel for doors, roof, hoods, body panels, etc.), other shapes and profiles (e.g., other peripheral shapes, greater/lesser three-dimensional profiles, etc.), and other product categories (e.g., non-automotive components). 
     The truing machine  100  is configured to receive the component  10 , hold the component  10  at various locations, evaluate the component  10 , and apply forces at various locations about the component  10  to bring the component  10  into compliance with the manufacturer&#39;s dimension and tolerance requirements. As discussed in further detail below with respect to  FIG.  3   , the truing machine  100  generally includes a plurality (i.e., series, at least one, etc.) of holding or clamping devices  120  to receive and hold (i.e., secure, engage, clamp, etc.) the component  10 , a plurality (i.e., series, at least one, etc.) of manipulation or bending devices  130  that apply a force to bend the component  10 , and a control system  200  that evaluates each component  10  and controls the holding devices  120  and/or the bending devices  130  to manipulate or bend the component  10  into compliance with the manufacturer&#39;s dimension and tolerance requirements. 
     In order to receive and hold the component  10 , the truing machine  100  is configured as a fixture having a table (i.e., base)  101  including a plurality of holding devices  120  that receive and hold the component  10  at various locations. For example, the truing machine  100  may include holding devices  120   a ,  120   b ,  120   c , and  120   d , which are configured to receive and hold the component  10  at various datums  20  (i.e., datum or reference points or locations) of the component  10 . Each holding device  120  may either be a fixed holding device (e.g.,  120   a ,  120   b ,  120   c ) that is configured to hold the component  10  at a corresponding datum  20  initially and continuously throughout a manipulation process in a predetermined position (i.e., X-, Y-, and Z-axes coordinates relative to the table  101  or other fixed component of the truing machine  100 ), or the holding device  120  may be a bending (i.e., articulating, manipulating, moving, etc.) holding device (e.g.,  120   d ) that moves a corresponding datum  20  (i.e., articulating datum  20   d ) relative to the fixed holding devices to a target location (e.g., bending the component  10  to within the manufacturer&#39;s requirements) and thereafter holds the datum  20  at the target location through the reminder of the manipulation process. The fixed holding devices  120  may, for example, include a bottom member that is fixed to the table  101  so as to receive a corresponding datum  20  of the component  10  in the predetermined location, or may otherwise be configured to hold the datum  20  to the predetermined location prior to the manipulation or bending process (e.g., the fixed holding devices may grab and move the component  10  with the datums  20  moving to an initial predetermined orientation). To hold the component  10 , each holding device  120  may be include gripping or clamping tools (e.g., clamps, grips, pads, etc.) that grip or compress the component  10  at the datum  20 . Movement and actuation of the holding devices  120  (e.g., for gripping/holding, or to move the component  10  into position) may occur through the use of servo motors, pneumatic actuation, hydraulic actuation, and/or any other suitable method or means. 
     By holding the three datums  20   a ,  20   b , and  20   c  with the three fixed holding devices  120   a ,  120   b ,  120   c , respectively, the truing machine  100  fixes the datums  20   a ,  20   b ,  20   c  into a known spatial relationship (i.e., a known plane) with little or no deformation (e.g., elastic or plastic) of the component  10 . This advantageously allows for the control system  200  to both evaluate the component  10  relative to the manufacturer&#39;s dimension and tolerance requirements within a known spatial coordinate system, and thereafter apply forces to bend the component  10  in a precise manner. It should be noted that while three fixed holding devices  120   a ,  120   b ,  120   c  and one bending holding device  120   d  are shown and described, it is contemplated that more or fewer of either type of holding device  120  may be included. 
     The truing machine  100  also includes a plurality (i.e., at least one, series, etc.) of manipulation or bending devices  130 , which are configured to engage and apply a force against a portion of the component  10 , so as to manipulate or bend the component  10  into compliance with the manufacturer&#39;s dimension and tolerance requirements. In contrast to the holding devices  120 , which are configured to receive and hold the datums  20  in fixed positions during the duration of the bending or manipulation process, the bending devices  130  are configured to engage the component  10  at bending locations  30  (e.g., region, portion, location, etc.) only for a limited time that is less than the duration of the entire bending process. For example, after the component  10  is received by the holding devices  120  and while the component  10  is held by the holding devices  120 , a first bending device  130   a  applies and releases a force against a first bending location  30   a  of the component  10 , then a second bending device  130   b  applies and releases another force against a second bending location  30   b  of the component  10 , and so on (depending on the number of bending devices  130  and bending locations  30 ). That is, the bending devices  130   a  and  130   b  may operate sequentially, or according to other firing or actuation sequences as described in further detail below. 
     The bending devices  130  are generally positioned at locations of the table or fixture  101  of the truing machine  100  proximate to the corresponding bending location. The portions of each bending device  130  are configured to move relative to the table  101  so as to avoid obstructing the component  10  as it is moved (e.g., placed onto and removed from the truing machine  100 ) and so as to engage component  10  at bending locations  30 . For example, the bending devices  130  may be configured for portions thereof to move generally horizontally (e.g., in X- and or Y-axes, or within approximately 25 degrees of a horizontal plane) to avoid obstructing the component  10  during placement and removal thereof and to engage or disengage the component  10 . Further, the bending devices  130  may be configured to move generally upward and downward (e.g., in the Z-axis, or within approximately 25 degrees of vertical), so as to engage and apply a bending force against the corresponding bending location  30  of the component  10 . In order to apply either an upward or downward force, the bending device  130  may include static or actuable tools or fittings to grasp an edge (e.g., of the inner or outer periphery  10   a ,  15   a  of the component  10 ), so as to pull upward on the component  10  (i.e., to apply an upward force) and/or push downward on the component  10  (i.e., to apply a downward force). 
     Individual bending devices  130  may be provided for each bending location  30  identified for applying force thereto to bend the component  10  into compliance with the manufacturer&#39;s dimension and tolerance requirements. For example, one or more bending devices  130  may be provided along the outer periphery  10   a  of the component  10  between the holding devices  130 , which are configured to apply a generally vertical force against the component  10  at bending locations (e.g.,  30   a ,  30   b ,  30   c ,  30   d , and  30   e ) along the outer peripheral edge (e.g., within approximately 4 inches of the edge of the outer periphery  10   a ) of the component  10 . One or more additional bending devices  130  may be provided along the inner periphery  15   a  of the component  10  (i.e., within approximately 4 inches of the edge of the inner periphery  15   a ), so as to apply a generally vertical force against a bending location  30   f  on an inner portion of the component  10  and/or against bending locations  30   g ,  30   h  corresponding to protrusions of the component  10  extending toward a center of the aperture  15 . 
     The truing machine  100  also includes a control system  200  that is configured to evaluate each component  10  and control the holding devices  120  and the bending devices  130 . That is, the control system  200  controls the truing machine  100  to execute a method for evaluating and manipulating the component  10  into compliance with the manufacturer&#39;s dimension and tolerance requirements. 
     To evaluate each component, the truing machine  100  includes a measurement system  210  that includes a plurality (i.e., at least one, series, etc.) of measurement devices  211  configured to measure the component  10  at predetermined locations, such as at datums  20  (i.e., where the holding devices  120  engage the component  10 ) and at bending positions  30  (i.e., where the bending devices  130  engage the component  10 ). The measurement devices  211  may each be laser-based and configured to measure a location of one of more of the datums  20  and/or regions  30  of the component  10  having an accuracy of at least 0.1 mm. For example, the measurement devices  211  may measure a vertical position (i.e., Z-axis position) of the datums  20  and/or the regions  30  of each component  10  held by the holding devices  120  within a fixed coordinate system (e.g., defined relative to the fixture or table  101  of the truing machine  10 ). The measurement devices  211  may, for example, be provided with each of the holding devices  120  and/or bending devices, for example, by being coupled directly thereto or provided as part of an assembly therewith. According to other exemplary embodiments, the measurement devices may be another type of measurement device (e.g., other optical or force-based measurement devices), have lesser or greater accuracy, measure other position parameters (e.g., X- and Y-axis positions), be provided in other manners (e.g., standalone and/or separate from the holding devices  120  and/or bending devices  130 ), be provided in different numbers (e.g., 1:1 ratio with the datums  20  and/or regions  30 , etc.), provided in a lesser or greater number than the datums  20  and/or regions  30 , and/or be provided with different capabilities (e.g., to measure multiple different datums  20  and/or regions  30 , including regions that do not correspond holding devices  120  or bending devices  130 ). It should additionally be noted that for datums  20  corresponding to fixed holding devices  120  (i.e., those that hold datums  20  in a predetermined relationship relative to the table  101  of the truing machine  100 ), the location of the datums  20  of the component  10  are already known, such that measurements for those datums  20  may not be required. 
     The control system  200  collects measurements of the component  10  from the measurement system  210  and then evaluates the component  10  to determine whether it is in compliance with the manufacturer&#39;s dimension and tolerance requirements. For example, the control system  200  may compare each measurement (e.g., the Z-axis measurement at each datum  20  or bending location  30 ) to a manufacturer&#39;s specification (e.g., within a range, for example +/−2.0 mm) for such a location on the component  10  (e.g., as compared to a perfect or model component). If the component  10  satisfies the manufacturer&#39;s requirements, the component  10  is removed from the truing machine  10  for use in a vehicle assembly. If the component  10  does not satisfy the manufacturer&#39;s requirements, as discussed in further detail below, the control system  200  determines a manipulation routine according to which the control system  200  moves the holding devices  120  and/or bending devices  130  to manipulate or bend the component  10  into conformity with the manufacturer&#39;s requirements. After executing the manipulation routine, the control system  200  then evaluates the component  10  (i.e., takes measurements using the measurement system  210 ) a second time to assess whether the component  10  satisfies the manufacturer&#39;s requirements. If compliant, the component  10  is removed from the truing machine for use in a vehicle assembly. If non-compliant, the control system  200  determines, based on the measurements, and executes a second manipulation routine, then evaluates the component a third and final time to assess whether the component  10  satisfies the manufacturer&#39;s requirements. If compliant, the component  10  is removed for use in a vehicle assembly. If non-compliant after executing the second manipulation routine, the component  10  is discarded. According to other exemplary embodiments, the control system  200  may assess and execute a manipulation routine more or fewer times prior to discarding non-compliant components  10 , for example, depending on throughput and scrap requirements or targets. 
     If, based on a first or second assessment, the component  10  is non-compliant with the manufacturer&#39;s requirements, the control system  200  determines a manipulation routine for manipulating or bending the specific component  10  with the holding devices  120  and/or the bending devices  130 . Each specific manipulation routine may be based, in part, on modeled data (e.g., finite element analyses and simulations of bending non-compliant computer models of components) and collected manufacturing data (e.g., trends observed or assessed for a lot or run of parts). Each manipulation may be defined by various parameters, including total location displacement or position (i.e., total movement of the datum  20  and/or bending location  30 , or the holding device  120  and/or bending device  130 , when actuated), force application (i.e., the manner by which the holding devices  120  and/or bending devices  130  engage and apply force to the component  10 ), and firing sequence (e.g., order and/or synchrony of holding devices  120  and/or bending devices  130  applying force at the datums  20  and/or bending locations  30  to bend the component  10 ). 
     Regarding the total displacement parameter, each manipulation routine as determined by the control system  200  includes a total displacement parameter for each datum  20  and/or bending location  30  of the component  10  at which the truing machine  100  (i.e., the holding devices  120  and/or bending device  130 ) applies a force for bending the component  10 . More specifically, since the component  10  is held and fixed at datums  20  by several (e.g., three or four) holding devices  120  in known spatial locations (i.e., relative to the fixture or table  101  of the truing machine  100 ), each manipulation routine includes a total displacement parameter for each other datum  20  (i.e., datums  20  not yet held in a known position) or bending location  30  to which the corresponding holding device  120  or bending device  130  moves such datum  20  or bending location  30  of the component  10  (e.g., by applying a generally vertical force). Due to elasticity and plasticity of the material forming the cast or stamped component  10 , the total displacement parameter may be greater than a distance between the measured position of the datum  20  or bending location  30  and the manufacturer&#39;s requirements, such that the holding device  120  or bending device  130  moves or displaces the datum  20  or bending location  30  beyond (i.e., past or further than) the manufacturer&#39;s component requirements (i.e., the component  10  is not coined or forced just to the manufacturer&#39;s component requirements and no further). That is, the total displacement parameter is configured to provide additional displacement to provide sufficient plastic deformation of the component  10 , such that when force is released from the datum  20  or bending location  30 , the component  10  relaxes (i.e., due to material elasticity) into a static position within the manufacturer&#39;s requirements. For example, if a given bending location is +2.0 mm out of specification (e.g., in the Z-axis), the total displacement parameter may be −6.0 mm, such that the bending device  130  moves the bending location  30  by −6.0 mm (i.e., downward in the Z-axis), which is 4.0 mm past the manufacturer&#39;s requirements. Thereafter, when the force against the bending location  30  is removed, the component  10  relaxes to a static condition with the bending location  30  moving to with the manufacturer&#39;s requirements. Additionally, because plastically moving one or more datums  20  and/or bending locations  30  in different sequences may plastically move another datum  20  and/or bending location  30  in different manners, each total displacement parameter may be determined within the overall manipulation or bending routine and not in isolation of other total displacement parameters or firing sequence. Furthermore, the firing sequence and resultant prior plastic deformation may result in that the datum  20  and/or bending location  30  of the component  10  being displaced after measurement but prior to the associated bending device  130  applying a force thereto. As such, it may be advantageous to define the total displacement parameter or position, as a final position in real space (i.e., relative to the table  101 ) or as a delta relative to the originally measured position. 
     Regarding the force application, the manipulation routine may provide stepped displacement and/or include a ramp up, hold, and ramp down periods for displacing the each datum  20  and/or bending location  30  to the total displacement position. For stepped displacement, rather than having the holding device  120  or bending device  130  necessarily move the datum  20  or bending location  30  to the final displacement parameter or position in one step (i.e., continuous motion or operation), the datum  20  or bending location  30  is first moved only a portion of the total displacement, then the applied force is lessened or removed entirely so as to allow the component  10  to relax partially or completely, before reapplying a force to move the datum  20  or bending location  30  further toward the total displacement position. For example, if the total displacement parameter for a bending location  30  is −10.0 mm (i.e., downward in the Z-axis) and the step distance is 2.0 mm, the bending device  130  may first move the bending location to −2.0 mm (i.e., downward in the Z-axis), then lessen the force (e.g., to allow the component  10  to fully or partially relax), then move the bending location to −4.0 mm, then lessen the force, the move the bending location to −6.0 mm, and so on until the −10.0 total displacement parameter is achieved. The force is then removed and the component  10  allowed to relax into a static position. 
     For ramped displacement, the holding devices  120  and/or bending devices  130  may move at different rates for engaging, moving, and disengaging the component  10 . For example, during ramp up period, the holding device  120  or bending device  130  may initially move at a relatively slow rate (i.e., distance per unit time, such as mm/s), so as to engage and/or initially move the datum  20  or bending location  30  of the component  10  relatively slowly and then gradually increase its speed over a displacement period (e.g., 0.1 seconds) during which the datum  20  or bending location  30  is moved to its total displacement position or to its stepped position (i.e., when stepped and ramped displacement are combined). Having an initially slow movement rate may, for example, avoid engaging the component at too high a rate of speed, especially if the firing sequence caused prior plastic deformation and moved the given datum  20  or bending location  30  from its originally measured position. During the hold period, the holding device  120  or bending device  130  may hold each datum or bending location  30  of the component  10  at the total displacement parameter for limited hold period or duration (e.g., 0.05 seconds). During the ramp down period, the holding device  120  or bending device  130  moves away from the total displacement parameter or position at an initially relatively fast speed and then gradually decrease over the total ramp down movement period (e.g., 0.1 seconds). According to other exemplary embodiments, the ramp up, hold, and ramp down periods may be configured differently, for example, by having longer or shorter durations, having a constant movement rate, having movement rates determined according to measured forces (as opposed to time), etc. 
     As noted above, the firing sequence (i.e., the sequence in which the holding devices  120  and/or the bending devices  130  engage and displace the datums  20  and/or bending locations  30 ) causes plastic deformation of component  10  in a sequential manner. The firing or actuation sequence may be configured in various different manners with various different parameters, including simultaneous firing or actuation of none, some, or all holding devices  120  and/or bending devices  130 , and firing in a spatially continuous or disrupted sequence (i.e., actuating in sequence, or not, around the inner or out perimeters  10   a ,  15   a  of the component  10 ). 
     For any bending holding devices (e.g.,  120   d ), which are configured to move and bend the component  10  and thereafter hold the component  10  at a corresponding datum  20   d , the bending routine may include actuating the bending holding device  120   d  prior to any bending devices  130 , which bend but do not hold the component  10 . In the bending routing, any bending holding device  120   d  will engage the component  10  at the corresponding datum  20   d  and apply a force thereto to displace the datum  20   d  to its determined maximum displacement position (e.g., with or without stepped and/or ramped displacement). The applied force is then lessened or removed to allow the component  10  to relax to allow the datum  20   d  to move to and be held in a fixed position with the manufacturer&#39;s requirements for the remainder of the bending routine. Alternatively, the bending holding device  120   d  may be configured to actively move the datum  20   d  to within the manufacturer&#39;s requirements (i.e., as opposed to such movement occurring through elasticity of the component  10 ). 
     Additionally, control system  200  may be configured to determine and execute the manipulation routine in its entirety (e.g., moving all bending holding devices  120   d  and all bending devices  130 ) before reevaluating the component. That is, the control system  200  does not reevaluate or react after movement of individual or a subset of bending holding devices  120   d  and/or bending devices  130 . According to other exemplary embodiments, remeasure, reevaluate, and react by redetermining or reconfiguring a manipulation routine more granularly after moving one or a larger subset of the bending holding devices  120   d  and/or bending devices  130 . 
     While the truing machine  100 , including its holding devices  120 , bending devices  130 , and control system  200 , are discussed in broad terms above, following is a description of an exemplary embodiment of a truing machine  100  with reference to the component  10  and a method of bending or truing the component  10  with the truing machine  100  into compliance with a manufacturer&#39;s dimension and tolerance requirements. 
     Referring now to  FIG.  4   , according to an exemplary embodiment, the truing machine  100  as described above includes an associated method configured for truing a component  10  that is a cast or stamped magnesium lift gate frame. The truing machine  100  includes four holding devices  120   a ,  120   b ,  120   c , and  120   d , which correspond to four datums  20   a ,  20   b ,  20   c , and  20   d , respectively, of the component  20 . Three of the holding devices  120   a ,  120   b , and  120   c  are each configured as fixed holding devices, which prior to and through any bending process, hold the datums  20   a ,  20   b ,  20   c  in a predetermined relationship (i.e., in a known relationship relative to the table  101  of the truing machine). The fourth holding device  120   d  is configured as a bending holding device, which as part of the manipulation process will first bend the component  10 , and thereafter hold the component  10  at datum  20   d  for the remaining duration of the bending process or routine. 
     The truing machine  100  also includes at least five bending devices  130 , which include at least one bending device  130   a ,  130   b ,  130   c , and  130   d  positioned between the holding devices  120   a ,  120   b ,  120   c , and  120   d  outside along an outer periphery of the component  10 , and include at least one bending device  130   f  positioned within the outer periphery of the component  10  (e.g., through aperture  15 ) so as to engage an interior peripheral portion of the component  10 . 
     In a first step  1001 , the truing machine  100  receives a component  10 , for example, from a robotic arm that moves the component  10  from a moving conveyer or other source. 
     In a second step  1002 , the fixed holding devices  120   a ,  120   b ,  120   c  begin hold the component  10  at at least the three corresponding datums  20   a ,  20   b , and  20   c  in the known spatial orientation (i.e., the known plane defined by the predetermined locations of the datums  20   a ,  20   b , and  20   c  in the holding devices  120   a ,  120   b ,  120   c  at fixed X-, Y-, and Z-positions). The component  10  may either be received in the predetermined orientation during the first step  1001 , or as part of the second step, for example as substep  1002   a , be moved into the known spatial orientation). 
     In a third step  1003 , the control system  200 , by way of its measurement system or devices, measures the component  10 , for example, by determining a vertical height (e.g., Z-axis position) at each non-held datum (e.g., datum  20   d ) and each bending location  30 . 
     In a fourth step  1004 , the control system  200  evaluates the component  10  by comparing one or more of the measurements obtained in step  1003  to the manufacturer&#39;s requirements, determines whether the component  10  is in compliance (e.g., if all measurements are within the manufacturer&#39;s requirements), and decides how to handle the component. 
     In a first substep  1004   a , if the component  10  is in compliance, the control system  200  accepts the component  10 . 
     In a second substep  1004   b , if the component  10  is non-compliant and has already undergone a threshold number of manipulation or bending processes (e.g., preferably two processes), the control system  200  discards the component  10 . 
     In a third substep  1004   c , if the component is non-compliant and has not already undergone the threshold number of manipulation or bending processes (e.g., the component  10  has not yet undergone and/or has undergone only one bending processes), the control system determines a manipulation process or routine. In determining the manipulation routine, the control system  200  evaluates the measurements of the component  10  taken during the third step  1003  and determines a maximum displacement parameter or position for each datum  20   d  that corresponds to a bending holding device  120   d  and for each bending position  30  that corresponds to a bending device  130 , for example, using one or more look-up tables and/or algorithms based on modeled component data (e.g., computer models and finite element analyses) and manufacturing data (e.g., learning for an individual run or lot of components, or larger number of components). Again, and as described above, the maximum displacement parameter position includes moving the corresponding datum  20   d  or bending location  30 , relative to its measured position, to beyond the manufacture&#39;s required position (i.e., such that the component  10  relaxes and its elasticity moves the datum  20   d  or bending location  30  to within the manufacturer&#39;s requirements). The control system  200  may incorporate into the manipulation routine ramped actuation (i.e., having variable movement speed and/or hold times) and/or stepped actuation (i.e., alternating increased movement and force lessening for reaching the maximum displacement position). 
     The control system  200  may also determine a firing or actuation sequence for the manipulation routine. However, the actuation sequence may be predetermined, such that all manipulation routines for each different component  10  includes the same actuation sequence. The actuation sequence as actively determined by the control system  200  or as predetermined may be based, in part, on modeled data and/or manufacturing data. 
     Furthermore, the actuation sequence may include first actuating the bending holding device  120   d  before and in a different manner than actuating any bending devices  130 . In particular, the bending routine may include actuating the bending holding device  120   d  to first move the corresponding datum  20   d  to a maximum displacement parameter (i.e., with or without ramped or stepped displacement), then move the datum  20   d  to within the manufacturer&#39;s requirements (e.g., either by allowing the component  10  to relax and/or actively moving the datum  20   d ), and then holding the datum  20   d  in this fixed location for the remaining duration of the bending routine. 
     In a fifth step  1005 , the control system  200  executes the manipulation routine by moving the one or more bending holding devices  120   d  and the bending devices  130  according to the bending routine. In a first substep  1005   a , the control system  200  causes the bending holding device  120   d  to move the corresponding datum  20   d  of the component  10  to its determined maximum displacement position, then hold the datum  20   d  at a fixed position with the manufacturer&#39;s specification and tolerance requirements for the component  10 . After the first substep  1005   a , in a series of at least five second substeps  1005   b , the control system  200  causes the bending devices  130  to sequentially move the corresponding bending locations  30  of the component  10  to their determined maximum displacement positions. After the series of second sub steps  1005   b , the control system  200  causes the bending holding device  120   d  to release the datum  20   d.    
     After the fifth step  1005 , step  1003  to measure the component  10  and step  1004  to assess the component  10  are repeated. 
     In a sixth step  1006 , the component  10  is removed from the truing machine  100  (i.e., if the component  10  is assessed as being compliant according to substep  1004   a , or is assessed to be discarded according to substep  1004   b ). And then the procedure begins again at step  1001  for a new component  10 . 
     Although each of the steps  1001 ,  1002 ,  1003 ,  1004 ,  1005 , and  1006  are described as first, second, third, etc. steps, it should be noted that the steps  1001 ,  1002 ,  1003 ,  1004 ,  1005 , and  1006  may be performed in other orders, according to various exemplary embodiments. 
     According to an exemplary embodiment, a machine for bending a cast or stamped component into compliance with dimension and tolerance requirements includes a base and three fixed holding devices coupled to the base and configured to each hold one of three corresponding datums of each component of a series of components in a predetermined spatial orientation relative to the base. The machine further includes a bending device coupled to the base and configured to engage a corresponding bending position of each component of the series of components, and a control system. The control system is configured to cause the three fixed holding devices to hold the three datums of each component in the predetermined spatial orientation, perform a measurement of each component at the bending position, perform an assessment based on the measurement of whether the component satisfies a component specification, determine a bending routine based on the measurement for each component, and according to the bending routine for that component, cause the bending device to engage the component at the bending position to plastically bend the component into compliance with the component specification and to disengage the component. 
     According to an exemplary embodiment, the machine further includes a bending holding device corresponding to a fourth datum of each component, wherein the control system is configured cause according to the bending routine the three fixed holding devices to hold the three datums in the predetermined spatial orientation and simultaneously cause the bending holding device to engage the component at the fourth datum to plastically bend the component into compliance with the component specification and to hold the fourth datum in a position in compliance with the component specification. 
     According to an exemplary embodiment, the machine further includes three additional bending devices coupled to the base and configured to engage one of three additional corresponding bending positions of each component, wherein the control system is configured to cause according to the bending routine the three fixed holding devices to hold the three datums in the predetermined spatial orientation and simultaneously cause each of the three additional bending devices to engage the component at the corresponding bending position to plastically bend the component into compliance with the component specification and to disengage the component. 
     According to an exemplary embodiment, the first bending position and the three additional bending positions are each located about an outer periphery of the component. According to another exemplary embodiment, at least one of the first bending position or the three additional bending positions is located about an inner periphery of the component. 
     According to an exemplary embodiment, in determining the bending routine, the control system includes determining a displacement parameter for the each bending position, and in executing the bending routine, the control system causes each bending device to displace the corresponding bending position of the component a distance equal to the displacement parameter away from the measurement the bending position. According to another exemplary embodiment, each displacement parameter is greater than a distance between the measurement of the bending position and specification compliant position. According to another exemplary embodiment, in executing the bending routine, the control system causes each bending device to displace the corresponding bending position in a stepped manner. According to another exemplary embodiment, wherein in executing the bending routine, the control system causes each bending device to hold the corresponding bending position of the component for a predefined duration. According to another exemplary embodiment, in executing the bending routine, the control system causes the bending devices to engage the corresponding bending positions of the component sequentially. 
     As utilized herein, the terms “approximately,” “about,” “substantially”, and similar terms are intended to have a broad meaning in harmony with the common and accepted usage by those of ordinary skill in the art to which the subject matter of this disclosure pertains. It should be understood by those of skill in the art who review this disclosure that these terms are intended to allow a description of certain features described and claimed without restricting the scope of these features to the precise numerical ranges provided. Accordingly, these terms should be interpreted as indicating that insubstantial or inconsequential modifications or alterations of the subject matter described and claimed are considered to be within the scope of the invention as recited in the appended claims. 
     It should be noted that the term “exemplary” as used herein to describe various embodiments is intended to indicate that such embodiments are possible examples, representations, and/or illustrations of possible embodiments (and such term is not intended to connote that such embodiments are necessarily extraordinary or superlative examples). 
     The terms “coupled,” “connected,” and the like as used herein mean the joining of two members directly or indirectly to one another. Such joining may be stationary (e.g., permanent) or moveable (e.g., removable or releasable). Such joining may be achieved with the two members or the two members and any additional intermediate members being integrally formed as a single unitary body with one another or with the two members or the two members and any additional intermediate members being attached to one another. 
     References herein to the positions of elements (e.g., “top,” “bottom,” “above,” “below,” etc.) are merely used to describe the orientation of various elements in the FIGURES. It should be noted that the orientation of various elements may differ according to other exemplary embodiments, and that such variations are intended to be encompassed by the present disclosure. 
     It is important to note that the construction and arrangement of the various exemplary embodiments are illustrative only. Although only a few embodiments have been described in detail in this disclosure, those skilled in the art who review this disclosure will readily appreciate that many modifications are possible (e.g., variations in sizes, dimensions, structures, shapes and proportions of the various elements, values of parameters, mounting arrangements, use of materials, colors, orientations, etc.) without materially departing from the novel teachings and advantages of the subject matter described herein. For example, elements shown as integrally formed may be constructed of multiple parts or elements, the position of elements may be reversed or otherwise varied, and the nature or number of discrete elements or positions may be altered or varied. The order or sequence of any process or method steps may be varied or re-sequenced according to alternative embodiments. Other substitutions, modifications, changes and omissions may also be made in the design, operating conditions and arrangement of the various exemplary embodiments without departing from the scope of the present invention.