Browse Prior Art Database

Dual-Arm Electric Cantilever Robot

IP.com Disclosure Number: IPCOM000101653D
Original Publication Date: 1990-Aug-01
Included in the Prior Art Database: 2005-Mar-16
Document File: 2 page(s) / 62K

Publishing Venue

IBM

Related People

Cook, LD: AUTHOR [+2]

Abstract

Disclosed is a dual-arm electric cartesian robot in which the two arms are capable of being operated independently or programmed to cooperate.

This text was extracted from an ASCII text file.
This is the abbreviated version, containing approximately 74% of the total text.

Dual-Arm Electric Cantilever Robot

       Disclosed is a dual-arm electric cartesian robot in which
the two arms are capable of being operated independently or
programmed to cooperate.

      A primary requirement in CIM (Computer Integrated
Manufacturing) is a generic, highly dextrous manipulator.

      This need is met by the Dual-Arm Electric Cantilever Robot
(DAECR) which is illustrated in the figure.  The robot has 2 arms,
each with up to six degrees of freedom and a servo controller end
effector, which is capable of sensing grasping force.  The arms may
be operated independently or may be programmed to cooperate.  This
cooperation allows one arm to act as a fixture and part presentation
device, thus significantly increasing system flexibility.  The
primary components of the robot system are the manipulator structure,
the power unit, the real time controller and the host computer.  The
power unit contains the transformers, power supplies and PWM servo
amplifiers necessary to drive the robot axes.  The real time
controller consists of several 68020-based single board computers in
a VME chassis.  The chassis also contains memory, DAC, DIO and
encoder interface cards to support the real time control of the
system.   The host computer is an IBM PS/2* Model 80, which provides
the user interface, as well as the interface to other devices in the
work cell. The robot is configurable so that as few as two axes or as
many as seven (including the end effect...