Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1984-12-04
1987-11-10
Shoop, Jr., William M.
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
318572, 318574, 901 4, 901 15, 364474, 364513, G05B 1910
Patent
active
047060042
ABSTRACT:
A playback system grinding robot is disclosed which includes a No. 2 arm attached for ocillation to the head of a No. 1 arm turning around a main axis, a drive arm arranged adjacent to the No. 1 arm so as to drive the No. 2 arm, and abrasive tool attached to the No. 2 arm head axis and pressed perpendicularly downward by a fluid cylinder to be freely turnable in different directions, and possessed of a dual degree-of-freedom of control in the polar coordinate system. A positional data generator for indicating a horizontal movement position of the abrasive tool is also provided as is a memory to store directional data together with positional data in the memory at the time of "teaching", especially to input turnback point data on the tool traveling locus exactly into the memory in accordance with a change of the directional data. A control device is included for decelerating the tool motion when the directional data are changed at the time of "playback work" and determines proper speed of the abrasive tool by using the directional data jointly with a variation in volume of the positional data. The control device also causes the abrasive tool to move in a zigzag manner, as well as a random manner on its route, thereby ensuring a manufacture of the polished products free from sharp differences in apparent surface finish between work areas and other areas.
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ASEA News, published by ASEA INC., White Plains, N.Y., dated Sep. 1978, pp. 1 and 2.
Komatsu Isamu
Serizawa Kenkichi
Aida Engineering Ltd.
Keane Patrick C.
Shoop Jr. William M.
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