A position calibration system and method are disclosed, in which a control unit is provided to control a positioner sensing module to scan a circular positioner provided on a positioning substrate in a first direction and a second direction so as to acquire midpoints of two scanned line segments and acquire an intersection of lines extending from the two center points in a direction perpendicular to the first and the second directions as a calibration reference point, which correspond to a centroid (a center) of the circular positioner. The calibration reference point functions as a reference point for positioning the positioning substrate with respect to the positioner sensing module and is stored in a memory unit. The calibration reference point can be used as a positioning point during installation of a machine and can also be used for calibration of a position of the machine.

A method for correcting a robot is provided. The method includes: providing a correction device, wherein the correction device comprises a jig wafer; grabbing and/or transferring the jig wafer by using the robot to obtain collected data; determining, based on the collected data, whether the robot needs to be corrected; and in response to that the robot needs to be corrected, obtaining a compensation value according to the collected data, and correcting the robot based on the compensation value.

A machining system includes: a jig retaining a plurality of workpieces; a measurement device measuring the retained plurality of workpieces; and a machining device machining the retained plurality of workpieces. The jig has a reference part positioned or position detected by the machining device. The measurement device has: a measurement unit measuring a positional relationship of the retained plurality of workpieces relative to the reference part, and an input unit using a recording medium or communication to input measured positional information of the plurality of workpieces to the machining device. The machining device has: a jig coordinate system specifying unit specifying a coordinate system of the jig, by positioning or position measuring the reference part, and a workpiece coordinate system setting unit individually setting coordinate systems of each of the plurality of workpieces, based on the specified coordinate system, and the inputted positional information.

A movable gantry system is described. In an example, the movable gantry system is configured to interface with jigs of different types or sizes and/or with different positions of a same jig and/or to perform operations on different parts mounted in such jigs. To do so, the movable gantry system includes an end effector, a gantry, and a computing system. The end effector is mounted within the gantry and provides at least rotational movement to perform operations on a part. The gantry is movable and interfaces with a jig holding the part. Further, the gantry provides translational movement to the end effector. The computing system identifies the gantry and the part and controls the gantry and the end effector, thereby facilitating the operations on the part.

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for determining portions of an item that would be unsupported during three-dimensional printing. One of the methods includes obtaining data representing a three-dimensional model of an item to be created by a three-dimensional printer, processing data representing discrete portions of an upper layer of the three-dimensional model that are labelled as unsupported to place supports for at least some of the discrete portions that are labelled as unsupported, processing data representing any remaining discrete portions of the upper layer that are labelled as unsupported and for which a support for the remaining discrete portion would intersect with a lower portion in the three-dimensional model, generating, for each of the discrete portions labelled as a portion at which to generate a support, a support for the discrete portion in the three-dimensional model.

A movable gantry system is described. In an example, the movable gantry system is configured to interface with jigs of different types or sizes and/or with different positions of a same jig and/or to perform operations on different parts mounted in such jigs. To do so, the movable gantry system includes an end effector, a gantry, and a computing system. The end effector is mounted within the gantry and provides at least rotational movement to perform operations on a part. The gantry is movable and interfaces with a jig holding the part. Further, the gantry provides translational movement to the end effector. The computing system identifies the gantry and the part and controls the gantry and the end effector, thereby facilitating the operations on the part.

A movable gantry system is described. In an example, the movable gantry system is configured to interface with jigs of different types or sizes and/or with different positions of a same jig and/or to perform operations on different parts mounted in such jigs. To do so, the movable gantry system includes an end effector, a gantry, and a computing system. The end effector is mounted within the gantry and provides at least rotational movement to perform operations on a part. The gantry is movable and interfaces with a jig holding the part. Further, the gantry provides translational movement to the end effector. The computing system identifies the gantry and the part and controls the gantry and the end effector, thereby facilitating the operations on the part.

A movable gantry system is configured to interface with jigs of different types or sizes and/or with different positions of a same jig and/or to perform operations on different parts mounted in such jigs. To do so, the movable gantry system includes an end effector, a gantry, and a computing system. The end effector is mounted within the gantry and provides at least rotational movement to perform operations on a part. The gantry is movable and interfaces with a jig holding the part. Further, the gantry provides translational movement to the end effector. The computing system identifies the gantry and the part and controls the gantry and the end effector, thereby facilitating the operations on the part. The computing system stores, in a data store, information about an operation upon performed by the end effector after a datuming process based translational data and on rotational data.

A movable gantry system is described. In an example, the movable gantry system is configured to interface with jigs of different types or sizes and/or with different positions of a same jig and/or to perform operations on different parts mounted in such jigs. To do so, the movable gantry system includes an end effector, a gantry, and a computing system. The end effector is mounted within the gantry and provides at least rotational movement to perform operations on a part. The gantry is movable and interfaces with a jig holding the part. Further, the gantry provides translational movement to the end effector. The computing system identifies the gantry and the part and controls the gantry and the end effector, thereby facilitating the operations on the part.

A machining system according to an aspect of the present disclosure includes: a jig which retains a plurality of workpieces; a measurement device which measures a plurality of workpieces retained on the jig; and a machining device which machines the plurality of workpieces retained on the jig, in which the jig has a reference part which is positioned or position detected by the machining device, and in which the measurement device has: a measurement unit which measures a positional relationship of the plurality of workpieces retained on the jig relative to the reference part, and an input unit which uses a recording medium or communication to input positional information of the plurality of workpieces measured by the measurement unit to the machining device, and in which the machining device has: a jig coordinate system specifying unit which specifies a coordinate system of the jig, by positioning or position measuring the reference part of the jig, and a workpiece coordinate system setting unit which individually sets coordinate systems of each of the plurality of workpieces, based on a coordinate system of the jig specified by the jig coordinate system specifying unit, and the positional information inputted from the input unit.