Mechanism to determine position and orientation in space

Details Mechanism to determine position and orientation in space Mechanism to determine position and orientation in space

1984-06-25

1986-08-19

Valenza, Joseph E.

Material or article handling

Horizontally swinging load support

Swinging about pivot

414730, 901 9, 901 15, 901 46, B66C 2300

Patent

active

046066969

ABSTRACT:
A mechanism to determine position and orientation in space of a robot linkage or the like. The mechanism typically includes a plurality of structural beams that form the linkage and each structural beam has an associated measuring beam which, in the preferred embodiment, is housed within the structural beam in a way that deflection of the structural beam does not impose loads on the measuring beam. Angular measuring devices and linear measuring devices serve to locate endpoints of the measuring beam and the information derived serves to locate the free end or endpoint (typically a gripper or the like) relative to an anchor to establish position and orientation at the endpoint.

REFERENCES:
patent: 3890552 (1975-06-01), Devol et al.
patent: 4068156 (1978-01-01), Johnson et al.
patent: 4119212 (1978-10-01), Flemming
patent: 4218172 (1980-08-01), Freund
patent: 4348731 (1982-09-01), Kogawa
patent: 4453085 (1984-06-01), Pryor
Koordinatentransformation bei Industrierobotern, etz Bd 103 (1982) Heft 14, pp. 773-778.

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