Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1986-03-11
1987-09-15
Shoop, Jr., William M.
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
364513, 901 30, 901 34, 901 9, 901 22, G05B 1910
Patent
active
046942300
ABSTRACT:
A micromanipulator system for precisely positioning an object in an xz plane and then grossly moving the object in the y direction into a hole z is disclosed. The micromanipulator system includes a base and a platform mounted to the base having five different degrees of movement (in the x direction, y direction, z direction, about the x axis, and about the z axis). Suitable moving mechanisms are provided for reversibly moving the platform in the five degrees of movement. Four of the degrees of movement being for fine or precise positioning of the platform and the fifth degree of movement in the y direction being a coarse positioning movement. A device for holding the obejct to the platform is then provided such that after precisely positioning the platform in the xz plane, the object is coarsely moved in the y direction toward the hole. Preferably, a device is provided for detecting an opposition force to the coarse movement of the object in the y direction. In addition, measuring devices are provided for measuring movements of the platform in each of the five degrees of movement. Preferably, the moving mechanisms are linear actuators, two of which serve for axles for rotation of the platform about the x and z axes. A suitable rolling friction system is provided with the linear actuators which includes a ball in a rounded trough. The object is inserted in the hole by a suitable search pattern after a robot initially locates the micromanipulator adjacent the hole.
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Enhancement of Robot Accuracy Using a Macro/Micro Manipulator System by Andre Sharon; 1981.
Peris James P.
Slocum Alexander H.
Englert Alvin J.
Jackson Douglas E.
Keane Patrick C.
Shoop Jr. William M.
USA as represented by the Secretary of Commerce
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