Robotic end-effector with active system compliance and micro-pos

Details Robotic end-effector with active system compliance and micro-pos Robotic end-effector with active system compliance and micro-pos

1993-11-12

1995-05-30

Ip, Paul

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

3185681, 31856821, 901 29, 901 30, G05D 1108

Patent

active

054204895

ABSTRACT:
The robotic end-effector system comprises a mounting bracket assembly attached to a manipulator arm of a robot. A dual shaft motor is attached to the mounting bracket assembly. The motor has first and second rotatable output shafts. The first shaft is for mounting an encoder for providing position data. A mechanical drive mechanism is connected to the motor and to the mounting bracket assembly. The mechanical drive mechanism converts rotational motion of the second output shaft to translational motion. A passive compliance system is connected to the mechanical drive mechanism. A load sensor system is supported by the compliance system for providing force data. An end-effector end piece is connected to the load sensor system. A closed loop computer control system is in communication with the motor for processing the position data and the force data for providing micro positioning of the end-effector end piece and for providing an active system compliance, thereby achieving the desired end-effector function.

REFERENCES:
patent: 4736519 (1988-04-01), Roberts
patent: 4765011 (1988-08-01), Leeper
patent: 4921292 (1990-05-01), Harwell et al.
patent: 4993139 (1991-02-01), Burry et al.
patent: 5160877 (1992-11-01), Fujiwara et al.

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