Patent ID: 7501603

Claim:
A positioning apparatus for a modular interchangeable multiple-degree-of-freedom robotic system, comprising: a gantry unit having a frame, a horizontal work plate mounted on the frame, a first slider slidably mounted on the frame for movement in a first linear direction, a second slider slidably mounted on the first slider for movement in a second linear direction perpendicular to the first direction, and a third slider slidably mounted on the second slider for movement in a third linear direction perpendicular to the first and second directions; a gimbal unit mounted on the third slider above the work plate, the gimbal unit having at least two perpendicular rotational degrees of freedom and a mounting device for mounting a part on the gimbal unit, and wherein the gimbal unit is releasably securable to a plurality of drive means, with each drive means having an associated rotatable member, thereby allowing a plurality of combinations of degrees of freedom of a resultant combined gimbal and gantry system, thereby allowing for controlled movement of workpieces for processing; and a programmable controller for controlling movement of the first, second and third sliders and rotation of the part mounted on the gimbal unit about two perpendicular axes of rotation according to pre-programmed specifications; whereby the part can be located at a selected position on the work plate and at a selected orientation.