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Robotic Manipulator Controllable Z Stroke

IP.com Disclosure Number: IPCOM000042155D
Original Publication Date: 1984-Mar-01
Included in the Prior Art Database: 2005-Feb-03
Document File: 2 page(s) / 53K

Publishing Venue

IBM

Related People

Johnson, WC: AUTHOR

Abstract

There is shown and described apparatus for providing accurate, controllable, vertical movement of a robotically controlled manipulator end effector. In the figure, robot manipulator arm 4 is shown connected to DC stepper motor 6 with integral encoder 8. Motor 6 is used to control the position of lead screw 10 connected thereto by coupling 12. Adapter plate 14 is attached to the base of stepper motor 6 and retains three guide shafts 18 arranged at 120Πspacings. Guide shafts 18 pass through bearing plates 20 located within manipulator arm 4. Guide shafts 18 and lead screw 10 terminate in end effector plate 22. Bearing 24, captured in end effector plate 22, engages the end of lead screw 10. Also located within manipulator arm 4 is a follower nut housing 28 through which lead screw 10 passes.

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Robotic Manipulator Controllable Z Stroke

There is shown and described apparatus for providing accurate, controllable, vertical movement of a robotically controlled manipulator end effector. In the figure, robot manipulator arm 4 is shown connected to DC stepper motor 6 with integral encoder 8. Motor 6 is used to control the position of lead screw 10 connected thereto by coupling 12. Adapter plate 14 is attached to the base of stepper motor 6 and retains three guide shafts 18 arranged at 120OE spacings. Guide shafts 18 pass through bearing plates 20 located within manipulator arm 4. Guide shafts 18 and lead screw 10 terminate in end effector plate 22. Bearing 24, captured in end effector plate 22, engages the end of lead screw 10. Also located within manipulator arm 4 is a follower nut housing 28 through which lead screw 10 passes. As stepper motor 6 drives lead screw 10, lead screw 10 rotates and follows the follower nut within housing 28. Guide shafts 18 are slidingly engaged in the bearings in plate 20 and thus move end effector plate 22. Possible modifications to the mechanism described include changing motor and lead screw to achieve variations in torque and speed. As another alternative, guide shafts 18 may be hollow in order to conduct pressurized air to or from end effector plate 22.

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