Compliance system for industrial manipulators

Details Compliance system for industrial manipulators Compliance system for industrial manipulators

1982-06-01

1984-07-10

Haroian, Harry N.

Geometrical instruments

Area integrators

Electrical

33169C, G01B 525

Patent

active

044584245

ABSTRACT:
A five and one-half degree of freedom adjustable compliance system exhibits a range of compliant control useful for large industrial manipulators which experience a range of tool lengths and payloads. Reinforced elastomeric spheres provide monotonically increasing spring stiffness and can automatically be adjusted for a desired stiffness range through pressurized fluid. Local position sensing of the robot gripper is achieved by linear variable-differential transformers. The output is analyzed by a microcomputer for possible readjustment of the manipulator.

REFERENCES:
patent: 3984006 (1976-10-01), Kakeyasu et al.
patent: 4276697 (1981-07-01), Drake et al.
patent: 4283153 (1981-08-01), Brendamour
patent: 4367591 (1983-01-01), Hirabayashi

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