MULTI NOZZLE END EFFECTOR WITH TRUE A-AXIS ROTATING CAPABILITY ON EACH NOZZLE
Original Publication Date: 1993-Oct-01
Included in the Prior Art Database: 2002-Feb-20
Traditionally, Flexible Automation utilizes grip- pers or end effecters that provide multiple tips or manipulators. By design each tip or manipulator resides at some radial position with respect to cen- ter of the A-axis. For placement accuracy a tooling offset is used to calculate the location ofthe tip with respect to the programmed robotic coordinate (cen- ter of the A-axis). Unfortunately the mounting of these grippers causes nutation which creates an ellip. tical path ofmotion for the tip as the A-axis rotates, The htrther the tip is located from the center of the A-axis the greater the distortion and placement inac- curacy In order to eliminate or reduce the effects of nutation/rotation, the tip should reside as close to the center of rotation as possible. This invention addresses that accuracy problem.