Mechanical closed loop robotic arm end effector positioning system
US4919586A · kind A · utility
Assignee
Inventor
Key dates
| Filing date | May 25, 1988 |
| Grant date | Apr 24, 1990 |
| Priority date | — |
| Expiry date | May 25, 2008 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB25J17/0208
- WIPO fieldHandling
- WIPO sectorMechanical engineering
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 seco…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.