Monitoring the location of a robot hand

Details Monitoring the location of a robot hand Monitoring the location of a robot hand

1977-07-18

1978-10-10

Werner, Frank E.

Traversing hoists

Overhead

Cable

33 1N, 73 1E, 212 39A, 214 1BD, 214152, 214761, B65G 4790

Patent

active

041192125

ABSTRACT:
A robot arm, comprising a pair of arm elements interconnected by a pivotal joint, includes a hand for supporting an article. Two additional linking elements of known lengths, interconnected by a free-floating pivotal joint, are pivotally coupled, at the free end of one linking element to the hand of the robot arm, and at the free end of the other linking element to a known position. Sensing devices at the free-floating pivotal joint and at the known position monitor, respectively, the angle between the linking elements and the attitude of such other linking element at the known position, in order to determine the location of the hand and, thus, of an article supported therein. Since the linking elements are not load-bearing, the determination is independent of any load on the hand such as may deform the arm elements.

REFERENCES:
patent: 2517582 (1950-08-01), Lull
patent: 3346724 (1967-10-01), Fuhrmeister et al.
patent: 3589134 (1971-06-01), Hackmann et al.
patent: 3819922 (1974-06-01), Horn et al.
patent: 3943343 (1976-03-01), Irie
patent: 3997071 (1976-12-01), Teach

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