Browse Prior Art Database

Air-Compliant End Effector

IP.com Disclosure Number: IPCOM000043526D
Original Publication Date: 1984-Sep-01
Included in the Prior Art Database: 2005-Feb-04
Document File: 2 page(s) / 48K

Publishing Venue

IBM

Related People

Johnson, WC: AUTHOR

Abstract

There is shown and described an end effector for use with a robotic manipulator, such as the IBM 7535 Manufacturing System. The end effector provides x, y compliance using an inflatable air bladder. Z compliance is provided using springs. The figure is a cutaway view of one-fourth of the end effector. The present device attaches at the end of the manipulator z axis 2 and comprises a first section 4 which is a spool and fits over the z shaft. Spool 4 has a generally C-shaped area machined out. Adapted to connect with spool 4 is slide 6 which has a mirror image area to that in spool 4 machined therein. When spool 4 and slide 6 meet, a cavity is formed which accepts a donut-shaped air bladder 8. Slide retainer 10 is provided to hold slide 6 in the proper position relative to spool 4.

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Air-Compliant End Effector

There is shown and described an end effector for use with a robotic manipulator, such as the IBM 7535 Manufacturing System. The end effector provides x, y compliance using an inflatable air bladder. Z compliance is provided using springs. The figure is a cutaway view of one-fourth of the end effector. The present device attaches at the end of the manipulator z axis 2 and comprises a first section 4 which is a spool and fits over the z shaft. Spool 4 has a generally C-shaped area machined out. Adapted to connect with spool 4 is slide 6 which has a mirror image area to that in spool 4 machined therein. When spool 4 and slide 6 meet, a cavity is formed which accepts a donut-shaped air bladder 8. Slide retainer 10 is provided to hold slide 6 in the proper position relative to spool 4. While only one of a plurality of slides 6 is shown, it will be understood that the structure in the other sections is substantially as shown. A vacuum tube 12 passes through slide 6 and has attached at one end a suction pickup cup 14. Spring 16 surrounds vacuum tube 12 and provides compliance in the z direction. A pickup adapter 18 screws into slide 6, positions the tube 12, and contains spring 16. In operation, once donut-shaped bladder 8 is inserted over spool 6 in the semicircular groove in spool 6, the pickup assemblies are then positioned in slide 6. Slide 6 is then attached to spool 4 and retained thereon by retainer 10. Donut-shaped bladder 8 is inflate...