Semi-active compliance device

Details Semi-active compliance device Semi-active compliance device

1993-03-01

1995-05-30

Underwood, Donald W.

Material or article handling

Load carried along a horizontal linear path

Having gripper means

901 29, 901 45, 7449006, 7449009, B65G 3500

Patent

active

054196744

ABSTRACT:
A semi-active compliance device forms part of a robot used to stack packages. The semi-active compliance device has an X-Y motion mechanism and a remote center compliance mechanism. The X-Y motion mechanism provides active open-loop control of the forces of a package along the X and Y axes so that the X- and Y-axis positions of the package will be passively controlled by the environment (e.g., walls and/or adjacent stacks of packages). The X-Y motion mechanism has two linear actuators and two pantographs. The remote center compliance mechanism provides passive orientation of the package about the Z axis. The semi-active compliance device also has a mechanism to return the remote center compliance mechanism to a home position.

REFERENCES:
patent: 888339 (1908-05-01), Macloskie
patent: 4439926 (1984-04-01), Whitney et al.
patent: 4477975 (1984-10-01), De Fazio et al.
patent: 4537557 (1985-08-01), Whitney
patent: 4848757 (1989-07-01), De Fazio
Research and Development of Selective Compliance Assembly Robot Arm (1st Report) --Characteristics of the System-, Nobuyuki Furuya and Hiroshi Makino, Journal of the Japanese Society of Precision Engineering (Japan), vol. 46, No. 12, (Dec. 1980), pp. 1525-1531.

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