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Two-Arm Manipulator With Up to Fourteen Degrees of Freedom

IP.com Disclosure Number: IPCOM000040490D
Original Publication Date: 1987-Nov-01
Included in the Prior Art Database: 2005-Feb-02
Document File: 1 page(s) / 12K

Publishing Venue

IBM

Related People

Frye, CS: AUTHOR [+2]

Abstract

A technique is described whereby enhancements are made to the IBM 7565 Robotics System by adding a second manipulator arm in the 7565 box frame. This added arm shares the existing "Y"-axis rails and provides a second "X"-axis which supports a second "Z"-axis and 4-axis gimbal. A single modified controller is provided to drive the two manipulator arms, so as to provide the robotics system with up to fourteen degrees of freedom, seven degrees for each arm. In the prior art, the addition of a second manipulator arm would require the addition of a second "Y"-axis feedback transducer and control box, as well as transducers for the added "X" and "Z" axes, for a total of six individual control boxes and six feedback transducer signal carrier rods.

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Two-Arm Manipulator With Up to Fourteen Degrees of Freedom

A technique is described whereby enhancements are made to the IBM 7565 Robotics System by adding a second manipulator arm in the 7565 box frame. This added arm shares the existing "Y"-axis rails and provides a second "X"-axis which supports a second "Z"-axis and 4-axis gimbal. A single modified controller is provided to drive the two manipulator arms, so as to provide the robotics system with up to fourteen degrees of freedom, seven degrees for each arm. In the prior art, the addition of a second manipulator arm would require the addition of a second "Y"-axis feedback transducer and control box, as well as transducers for the added "X" and "Z" axes, for a total of six individual control boxes and six feedback transducer signal carrier rods. The enhanced technique utilizes only five rods, including dual "Y"-axis control with a single "Y"-axis feedback transducer signal carrier rod. The "Y" transducer rod and control box electronics is capable of sending multiple signals and recognizing the feedback induced from either "X" arm magnet in order to accurately position each arm. A further packaging enhancement combines the six control boxes into one control box that enhances mounting and saves space. This new concept eliminates the need for mounting five individual control boxes and one additional transducer rod. No modifications need to be made to either arm in order to accommodate this improved configuration....