The InnovationQ application will be updated on Sunday, May 31st from 10am-noon ET. You may experience brief service interruptions during that time.
Browse Prior Art Database


IP.com Disclosure Number: IPCOM000025198D
Original Publication Date: 1984-Feb-29
Included in the Prior Art Database: 2004-Apr-04

Publishing Venue

Xerox Disclosure Journal


As shown in the drawing, the tool 10 is connected to the robot wrist 12 by a pin 14. If the applied normal force at the end of tool 10 is too great, pin 14 will shear resulting in tool 10 moving freely relative to robot wrist 12. This prevents excessively large forces applied at the end of the tool from damaging the robot wrist. Conversely, if a software problem or other problems arises such that the robot would move the tool in such a fashion that it would crash through the workpiece, the pin would shear or snap before the tool or robot wrist could be damaged.