Browse Prior Art Database

Precision Manipulator (ROBOT)

IP.com Disclosure Number: IPCOM000049923D
Original Publication Date: 1982-Aug-01
Included in the Prior Art Database: 2005-Feb-09
Document File: 2 page(s) / 109K

Publishing Venue

IBM

Related People

Krakinowski, M: AUTHOR

Abstract

This manipulator structure provides the linearity and precision needed to meet the manufacturing and assembly needs of the electronics and related industries.

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Precision Manipulator (ROBOT)

This manipulator structure provides the linearity and precision needed to meet the manufacturing and assembly needs of the electronics and related industries.

Two rails 10 and 12 and a linear parabolic cam 14 are mounted on the base plate 16. A linear-hydraulic motor 18 drives the X'-joint 20. Notice that the motor moves with the 'X'-joint and that the relationship between the motor and the linear bearings does not change. The hydraulic motor provides both an axial driving force and a steady transverse load that eliminate all bearing backlash. The stiffness of the 'X'-joint 20 is tailored so that the deflection due to the cyclic transverse loading of the motors remain nil. A nearly constant deformation of the structure can be obtained.

An identical arrangement drives the 'Y' joint 22. The 'Y' cam 24 and rails 26 are mounted on the 'X'-joint 20. A linear hydraulic motor 28 drives the 'Y' joint relative to the 'X'-joint and travels with the 'Y' joint. The 'Z' arm 30 is rigidly mounted on the 'Y' joint 22. The ratio l/d (arm length 'l' to rail spacing 'd') is the bearing error amplification factor. Depending on the desired accuracy and the size limitations, an appropriate 'l/d' (say .5 to .1) parameter can be chosen.

The disclosed structure provides an opportunity to totally isolate the hydraulic drive from the environment. It consists of two basic elements, a splash cover 32 and a vapor-barrier 36 (Fig. 1). The splash cover is attached...