Remotely adjustable compliance for end effector tooling

Details Remotely adjustable compliance for end effector tooling Remotely adjustable compliance for end effector tooling

1990-08-02

1992-05-26

Spar, Robert J.

Material or article handling

Vertically swinging load support

Grab

74469, 294 864, 403291, 414626, 414786, 901 29, 901 45, B25J 1702

Patent

active

051161907

ABSTRACT:
A cable suspension compliance mechanism has a top plate for attaching the mechanism to a robot and a bottom plate for attaching the mechanism to a gripping device. Steel cables interconnect the plates and maintain the plates substantially parallel relative to each other. Pneumatic cylinders are also disposed between the plates to adjust the mechanism's stiffness by adjusting the tension of a selected number of the steel cables. The mechanism is also equipped with magnetic inductance sensors to sense the position and classification of the article to be gripped. Additionally, the mechanism has an overtravel sensor to indicate the presence of unexpected obstacles, and to stop the mechasnism in response thereto.

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