Browse Prior Art Database

Robotic End Effector

IP.com Disclosure Number: IPCOM000035046D
Original Publication Date: 1989-May-01
Included in the Prior Art Database: 2005-Jan-28
Document File: 2 page(s) / 68K

Publishing Venue

IBM

Related People

Cox, DJ: AUTHOR [+2]

Abstract

A multifunctional end effector is described which allows a robot, through the addition of a vertical compliance function, to perform a plurality of tasks including acquisition, positioning, insertion and transporting of parts. Fig. 1 shows the end effector isolated from the robot manipulator. Commercial gripper 10, with associated fingers 11, is modified by mounting mechanism 13 to the top of gripper 10, and adding catch extension 14 to one of the fingers 11. Mechanism 13 (Figs. 2, 3 and 4) consists of vertically compliant, spring-loaded plunger 15 accurately positioned with top and bottom bushings 16 and 17, external spring 18 and captured spring 19. Captured spring 19 is confined by flange 20 of plunger 15 and by top bushing 16.

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Robotic End Effector

A multifunctional end effector is described which allows a robot, through the addition of a vertical compliance function, to perform a plurality of tasks including acquisition, positioning, insertion and transporting of parts. Fig. 1 shows the end effector isolated from the robot manipulator. Commercial gripper 10, with associated fingers 11, is modified by mounting mechanism 13 to the top of gripper 10, and adding catch extension 14 to one of the fingers 11. Mechanism 13 (Figs. 2, 3 and 4) consists of vertically compliant, spring-loaded plunger 15 accurately positioned with top and bottom bushings 16 and 17, external spring 18 and captured spring 19. Captured spring 19 is confined by flange 20 of plunger 15 and by top bushing 16.

(Image Omitted)

The action of the end effector can be illustrated by the insertion of a pulley (a type 2 component) onto a bracket with a shaft (a type 1 component). The type 1 component is grasped conventionally with fingers 11 and is located in a fixture. The type 2 component is first accurately positioned to the components' inner diameter using vertical compliant, spring-loaded plunger 15. Following this, catch extention 14 is positioned with the grasp motion of the end effector to capture and hold the type 2 component with external spring 18 under compression. The robot manipulator now positions the end effector for the insertion of the type 2 component onto the type 1 component (i.e., insert the pulley onto the...