A device (1) for measuring a valve seat formed in a piece has an elongate shape and defines a longitudinal axis (A), and includes: a slide (9), slidingly coupled to a guide (11) for translating in a scanning direction (B) inclined to the longitudinal axis; a sensor (10), mounted on the slide for measuring a parameter relating to a profile of the seat; a processing unit connected to the sensor; a rotary actuator (13) defining a longitudinal rotation axis substantially parallel to the longitudinal axis of the device; and a transmission assembly interposed between the rotary actuator and the slide for transforming a rotary motion about a longitudinal rotation axis in a reciprocating linear motion of the slide along the scanning direction.

Embodiments described herein relate to systems and methods for manipulating the position and/or orientation of an object while it is held in a robotic gripper. In one such embodiment, one or more physically possible and stable displacements for moving an object relative to a gripper using one or more frictional pushes may be determined and applied to the object to move the object from a first position and orientation to a second position and orientation while the object is held by the gripper. In certain embodiments, the physically possible and stable displacements may be determined using an appropriate motion cone approximation.

A gauge with two probes measures a rifle chamber to determine the distance from the center of the shoulder to the start of the bore. A gauge with two holes measures a loaded cartridge to determine the distance from the center of the shoulder to the place on the bullet where the cross sectional diameter is the same as the bore of the rifle. The difference between these two measurements is bullet jump: the distance the bullet will move, upon firing, before it engages the rifling of the barrel. These same tools, properly sized, also provide a unique and convenient means for determining the cone angle of any conical surface.

A gauge with two probes measures a rifle chamber to determine the distance from the center of the shoulder to the start of the bore. A gauge with two holes measures a loaded cartridge to determine the distance from the center of the shoulder to the place on the bullet where the cross sectional diameter is the same as the bore of the rifle. The difference between these two measurements is bullet jump: the distance the bullet will move, upon firing, before it engages the rifling of the barrel. These same tools, properly sized, also provide a unique and convenient means for determining the cone angle of any conical surface.

Embodiments Embodiments described herein relate to systems and methods for manipulating the position and/or orientation of an object while it is held in a robotic gripper. In one such embodiment, one or more physically possible and stable displacements for moving an object relative to a gripper using one or more frictional pushes may be determined and applied to the object to move the object from a first position and orientation to a second position and orientation while the object is held by the gripper. In certain embodiments, the physically possible and stable displacements may be determined using an appropriate motion cone approximation.

A conical workpiece length measurement method is provided. Two laser displacement sensors are symmetrically arranged at opposite sides of a to-be-measured conical workpiece or a tooling loaded with the to-be-measured conical workpiece. Distance X.sub.0 from each displacement sensor to a bottom plane of the to-be-measured conical workpiece is calibrated. An elongated base plate is arranged at a tip of the to-be-measured conical workpiece, and the two displacement sensors measure their respective distances to the base plate. The total length of the to-be-measured conical workpiece is calculated as follows: X=X.sub.0+(X.sub.1+X.sub.2)/2, where X.sub.1 represents distance from one of the two displacement sensors to the base plate, and X.sub.2 represents distance from the other of the two displacement sensors to the base plate. Factors influencing the length measurement include calibration of the fixed length, measurement accuracy of the displacement sensor and a tilt error of the base plate.

A device (1) for measuring a valve seat formed in a piece has an elongate shape and defines a longitudinal axis (A), and includes: a slide (9), slidingly coupled to a guide (11) for translating in a scanning direction (B) inclined to the longitudinal axis; a sensor (10), mounted on the slide for measuring a parameter relating to a profile of the seat; a processing unit connected to the sensor; a rotary actuator (13) defining a longitudinal rotation axis substantially parallel to the longitudinal axis of the device; and a transmission assembly interposed between the rotary actuator and the slide for transforming a rotary motion about a longitudinal rotation axis in a reciprocating linear motion of the slide along the scanning direction.

A conical workpiece length measurement method is provided. Two laser displacement sensors are symmetrically arranged at opposite sides of a to-be-measured conical workpiece or a tooling loaded with the to-be-measured conical workpiece. Distance X.sub.0 from each displacement sensor to a bottom plane of the to-be-measured conical workpiece is calibrated. An elongated base plate is arranged at a tip of the to-be-measured conical workpiece, and the two displacement sensors measure their respective distances to the base plate. The total length of the to-be-measured conical workpiece is calculated as follows: X=X.sub.0+(X.sub.1+X.sub.2)/2, where X.sub.1 represents distance from one of the two displacement sensors to the base plate, and X.sub.2 represents distance from the other of the two displacement sensors to the base plate. Factors influencing the length measurement include calibration of the fixed length, measurement accuracy of the displacement sensor and a tilt error of the base plate.