Material or article handling – Vertically swinging load support – Grab
Patent
1983-04-12
1989-04-04
Spar, Robert J.
Material or article handling
Vertically swinging load support
Grab
901 45, 901 47, 901 29, 901 9, 73800, 338 15, 356152, B25J 900, B25J 1702
Patent
active
048181730
ABSTRACT:
Apparatus for determinig when the gripper or hand of a robot arm, resiliently mounted on a robot arm body with a set of highly compliant springs, strikes or makes contact with an object that impedes or limits hand movement. The apparatus includes a light source, preferably mounted in a particular location on the robot arm hand and a light sensitive device cooperatively mounted in a particular location on the robot arm body, a device is capable of continuously generating hand-to-robot arm body relative position signals in response to the position of optically focused light from the light source impinging on the light sensitive device. Relative movement between the robot arm body and the robot hand normally resulting from contact between a motion impeding object and the robot hand causes the light sensitive device to generate a signal indicative of such object contact and/or extent of relative hand-to-robot arm body movement. This signal may be employed, for example, to either terminate robot arm movement or cause a particular force to be applied to the object contacted by the robot hand.
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IBM Technical Disclosure Bulletin, "Position Detecting Apparatus", H. R. Rottman, vol. 9, #5, Oct. 1966.
Kelleher John J.
Polaroid Corporation
Spar Robert J.
Underwood Donald W.
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