Robotic Helical Insertion Tool for Twist-Lock Parts and Fasteners
Original Publication Date: 1987-Feb-01
Included in the Prior Art Database: 2005-Jan-31
This device is comprised of: 1. A Helical Drive Mechanism such as that of a Yankee screw driver, to be used as a robot tool. 2. A servo-controlled programmable robot with at least 3 degrees of freedom. Two degrees of freedom are required for horizontal translation, and a third degree of freedom is required for part insertion and tool operation, as well as withdrawal of the tool after job completion. 3. A device for sensing forces, either torsional or longitudinal to the insertion motion. In this embodiment, force sensing requirements are provided by the robot's integrated strain gaged fingers which grasp the body of the tool. 4.