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Robotic Compliant Sensing Mechanism

IP.com Disclosure Number: IPCOM000042989D
Original Publication Date: 1984-Jun-01
Included in the Prior Art Database: 2005-Feb-04
Document File: 2 page(s) / 43K

Publishing Venue

IBM

Related People

Lamoreux, JF: AUTHOR

Abstract

The stem 11 connects the robot to the end-of-arm tooling, and 12 is added tooling for any specific application. The top plate 10 connects the stem 11 to the lower bearing plate 1. The upper bearing plate 9 rides on a film of air supplied through holes 8 from the donut-shaped cavity in the lower bearing plate 1. The lower seal plate 7 seals the donut-shaped air supply cavity. The air supply stem 2 supplies air to the donut-shaped cavity. Connecting stem 3 connects the upper bearing plate 9 with unique gripper tooling 12. Assembly 4, 5 and 6 is used to center the connecting stem 3 and restrain it from movement while the robot arm is in motion. The double acting air-cylinder 6 forces the centering wedge 4 through the bracket guide 5 against the square connecting stem 3.

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Robotic Compliant Sensing Mechanism

The stem 11 connects the robot to the end-of-arm tooling, and 12 is added tooling for any specific application. The top plate 10 connects the stem 11 to the lower bearing plate 1. The upper bearing plate 9 rides on a film of air supplied through holes 8 from the donut-shaped cavity in the lower bearing plate 1. The lower seal plate 7 seals the donut-shaped air supply cavity. The air supply stem 2 supplies air to the donut-shaped cavity. Connecting stem 3 connects the upper bearing plate 9 with unique gripper tooling 12. Assembly 4, 5 and 6 is used to center the connecting stem 3 and restrain it from movement while the robot arm is in motion. The double acting air-cylinder 6 forces the centering wedge 4 through the bracket guide 5 against the square connecting stem 3. This action centers the connecting stem (x, y, and theta). Air flow can be monitored to determine vertical forces on the stem.

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