Browse Prior Art Database

Rotary Actuator Alignment Fixture and Alignment Procedure

IP.com Disclosure Number: IPCOM000060399D
Original Publication Date: 1986-Apr-01
Included in the Prior Art Database: 2005-Mar-08
Document File: 2 page(s) / 52K

Publishing Venue

IBM

Related People

Crompton, D: AUTHOR [+5]

Abstract

This article describes an alignment fixture and procedure for accurate alignment and positioning verification of robot gimbal components and gripper assembly. Fig. 1 is a perspective view of the fixture and gimbal showing the relative position of the parts, as the attachment is about to be initiated of the fixture R to the yaw and roll/pitch actuators' manifolds U and J. Fig. 2 shows the gripper feature manipulator configuration for 6 degrees of freedom (DOF). Manually position the roll/pitch rotary actuator's manifold J to approximately a 90Πclockwise angular displacement from the front surface of the yaw rotary actuator U and loosen the yaw/pitch rotary actuators' Y/X shafts' clamping brackets N clamping screws R.

This text was extracted from a PDF file.
At least one non-text object (such as an image or picture) has been suppressed.
This is the abbreviated version, containing approximately 52% of the total text.

Page 1 of 2

Rotary Actuator Alignment Fixture and Alignment Procedure

This article describes an alignment fixture and procedure for accurate alignment and positioning verification of robot gimbal components and gripper assembly. Fig. 1 is a perspective view of the fixture and gimbal showing the relative position of the parts, as the attachment is about to be initiated of the fixture R to the yaw and roll/pitch actuators' manifolds U and J. Fig. 2 shows the gripper feature manipulator configuration for 6 degrees of freedom (DOF). Manually position the roll/pitch rotary actuator's manifold J to approximately a 90OE clockwise angular displacement from the front surface of the yaw rotary actuator U and loosen the yaw/pitch rotary actuators' Y/X shafts' clamping brackets N clamping screws R. The rotary actuators' alignment fixture R is oriented in a position such that the three dowel pins L may readily be inserted in manifold J's dowel pin holes L. The fixture R is then securely fastened to the finished surfaces by means of a firm finger torquing of the four- fixture hold-down screws D. Following calibration and establishing component positioning in space (which includes shaft orientation) the bracket N is refastened to the yaw Y and pitch X rotary actuators' shafts by wrench torquing clamp screws B. The alignment fixture R is then detached by untorquing the hold-down screws D from the yaw manifold U and roll/pitch actuator's manifold J. In order to complete the calibration of the 6 DOF with gripper feature manipulator, the grippe...