Registers – Transfer mechanism – Traveling pawl
Patent
1975-04-07
1977-01-04
Ruggiero, Joseph F.
Registers
Transfer mechanism
Traveling pawl
23515111, 214 1CM, B25J 900, G06F 1546
Patent
active
040015564
ABSTRACT:
A mechanical manipulator which includes fingers under the control of a computer, antenna sensing means mounted on such fingers and extended and retracted from the fingers under the control of the computer, means for detecting the contact or proximity of the extended antenna sensing means with a workpiece, means responsive to the antenna sensing means for retracting the sensing means from interference with the workpiece and for adjusting the control of the fingers. The fingers are adapted for X, Y and Z linear motions and provides pitch, yaw and roll angular motion. The retractable antenna sensing means resembles a whisker which extends from the finger and makes contact with or approaches the workpiece. The antenna sensing means may include a retractable pneumatic back pressure sensor via the back pressure of a fluid in the supply, created when the fluid impinges on the workpiece. The retractable antenna whisker bends more readily than the rigid finger. Therefore, contact with an object will not cause displacement of the object as a rigid finger would. Computer logic circuits receive signals representing the displacement and positions of both the antenna sensing means as well as the manipulator fingers and coordinates both sets of signals to determine the orientation and position of the workpiece and the shape of the workpiece.
REFERENCES:
patent: 3168203 (1965-02-01), Gallistel
patent: 3550630 (1970-12-01), Panissidi
patent: 3770140 (1973-11-01), Dukette
patent: 3878652 (1975-04-01), Mosher
Ignatyev et al., "Underwater Manipulator with Automatic Electronic Computer Control", Oceanology, vol. 11, No. 3, (1971), pp. 420-425.
Folchi George A.
Wang Sherman S.
Will Peter M.
Zloof Moshe M.
International Business Machines - Corporation
Ruggiero Joseph F.
Young Philip
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