Material or article handling – Vertically swinging load support – Grab
Patent
1987-11-03
1989-02-28
Werner, Frank E.
Material or article handling
Vertically swinging load support
Grab
318567, 364513, 901 9, 901 20, B25J 906
Patent
active
048080632
ABSTRACT:
In a robotic assembly system including a robotic device composed of a base member, a plurality of movable members and joint mechanisms coupling the members in a sequence extending from the base member such that a first one of the movable members is supported by the base member and is rotatable relative to the base member about a respective axis and each of the other movable members is supported by, and rotatable about a respective axis relative to, a respective preceding movable member in the sequence, with the last movable member in the sequence being an end member for supporting a workpiece which is to be brought to a selected position relative to a fixed body by movement along a reference plane associated with the body, the selected position corresponding to a set of reference angular positions each of which defines an angular position of a respective movable member about the respective axis thereof, the joint mechanisms are controlled by a computer system coupled thereto in such a manner that one of the movable members is rotated in direct response to the force with which the workpiece is being pressed against the reference plane while each of the other movable members is rotated about is respective axis in a manner to bring the workpiece to the selected position while displacing the workpiece generally along the reference plane and pressing the workpiece against the reference plane with a force approaching a selected value.
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"Joint Torque Control by a Direct Feedback for Industrial Robots", IEEE Transactions on Automatic Control, vol. AC-28, No. 2, Feb. 1983, Luh, J. Y. S., Fisher, W. D., Paul, R. P. C., pp. 153-161.
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Abeles D. C.
Underwood Donald W.
Werner Frank E.
Westinghouse Electric Corp.
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