Material or article handling – Vertically swinging load support – Grab
Patent
1988-05-25
1990-04-24
Werner, Frank E.
Material or article handling
Vertically swinging load support
Grab
901 45, 414626, B66C 100
Patent
active
049195867
ABSTRACT:
A mechanical closed loop robotic arm end effector positioning system which produces a precision reference frame with an associated workpiece fixture or other robotic manipulator system is disclosed. The positioning system results in decoupling of end effector operation from gross movement inaccuracies or vibrations of the robotic arm, thus allowing less precise robots to perform high precision tasks. The system includes a wrist assembly which is mountable to the robotic arm near the arm's distal functional end. The wrist assembly has a compliant member and a first positioning member connected thereto. The first positioning member includes a first docking arrangement. A second positioning member associated with the workpiece fixture includes a second docking arrangement. The first and second docking arrangements are sized and positioned to engageably mate within the robotic arm's resolution when the robotic arm attains a target position relative to the workpiece fixture. The compliant member provides rotational and translational freedom of movement for the docking arrangements to mate as the robotic arm attains its target coordinates and orientation. In further embodiments, the second positioning member is capable of two-dimensional movement in a plane parallel to the plane of the workpiece fixture, and an embodiment for locating two robotic arm and effectors relative to one another is provided.
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Eller Jr. James T.
Grasp, Inc.
Werner Frank E.
LandOfFree
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