Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1987-07-23
1988-11-01
Ro, Bentsu
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
29759, 81451, 901 30, B25J 918
Patent
active
047822740
ABSTRACT:
An end effector, which is adapted to be disposed on a movable industrial manipulator arm, is capable of placing a holed object having an opening therethrough onto a stud member. The end effector includes a tool adapted to centrally releasably support the holed object and a support mount slidingly connected to the tool for mounting the tool to the industrial manipulator arm. A first sensing system is utilized for sensing when the holed object has been aligned with, and is disposed about, the stud member, and a second sensing system is used for sensing when the holed object is misaligned with the stud member. A third sensing system is provided for determining the amount of misalignment between the holed object and the stud member in one of two planar directions, and a fourth sensing system is included for determining the amount of misalignment between the holed object and the stud member in the other of the two planar directions.
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patent: 4562391 (1985-12-01), Inoue
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Pemsel Ernst R.
Teegarden Daniel J.
Ro Bentsu
Sutcliff W. G.
Westinghouse Electric Corp.
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