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Feedback for Roll Motion in the Z-Axis of a Robot

IP.com Disclosure Number: IPCOM000044631D
Original Publication Date: 1984-Dec-01
Included in the Prior Art Database: 2005-Feb-06
Document File: 2 page(s) / 27K

Publishing Venue

IBM

Related People

Beitler, SM: AUTHOR [+2]

Abstract

The shaft position of a stepper motor, which drives a robot element about the Z-axis to produce roll motion, is detected so that when the shaft position is not at the proper orientation due to misalignment, the shaft is placed into its proper rotational position upon return to its home position. A robot 1 (Fig. 1) has a stepper motor 2 supported by a bracket 3 in suspended relation. The stepper motor 2 has a gear 4 mounted on the upper end of its shaft 5 (Fig. 2) for rotating a gear 6 (Fig. 3), which drives an element 7 (Fig. 1) supported on the end of an arm 8 of the robot 1 about the Z-axis. The element 7 is driven from the stepper motor 2 through the gears 4 and 6 and a pair of timing belts (not shown). A coupling 9 (Fig. 2) is attached to the bottom end of the shaft 5 for rotating therewith.

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Feedback for Roll Motion in the Z-Axis of a Robot

The shaft position of a stepper motor, which drives a robot element about the Z- axis to produce roll motion, is detected so that when the shaft position is not at the proper orientation due to misalignment, the shaft is placed into its proper rotational position upon return to its home position. A robot 1 (Fig. 1) has a stepper motor 2 supported by a bracket 3 in suspended relation. The stepper motor 2 has a gear 4 mounted on the upper end of its shaft 5 (Fig. 2) for rotating a gear 6 (Fig. 3), which drives an element 7 (Fig. 1) supported on the end of an arm 8 of the robot 1 about the Z-axis. The element 7 is driven from the stepper motor 2 through the gears 4 and 6 and a pair of timing belts (not shown). A coupling 9 (Fig. 2) is attached to the bottom end of the shaft 5 for rotating therewith. The coupling 9 has a plurality (six shown) of disks 10 mounted thereon and attached thereto by screws 11. As shown in Fig. 4, each of the disks 10 has a slot 12 formed in its annular flange 13 with the slot 12 in each of the disks 10 being disposed at a different angular position about the coupling 9 (Fig. 2). These angular positions are not necessarily equally angularly spaced and usually extend over no more than 180OE. Each of the six slotted disks 10 is employed to sense when the element 7 (Fig. 1), which is rotated about the Z-axis by the stepper motor 2, is at a specific position at which it stops. The number of these positions can vary so that all six of the slotted disks 10 (Fig. 2) may not necessarily be employed with each use of the robot 1 (Fig. 1). Each of the disks 10 (Fig. 2) has its flange 13 passing between a...