Wheel Configuration Robot With Laser/Ccd Position-Sensing Device
Original Publication Date: 1987-Jun-01
Included in the Prior Art Database: 2005-Feb-01
A circular rim mounted horizontally and suspended from a ceiling by a central pillar supports two or more robot arms, each capable of moving around the rim and working in the general area below the rim. Included is a device for sensing the position of the robot around the rim including a laser mounted on the robot and a charge-coupled device (CCD) near the central pillar. As shown in Fig. 1, the rim 10 is supported by a central pillar 11 which may be roof-mounted, with support spokes 12 mounting the rim to the pillar. Robotic arms 13, 14, 15 are mounted on the circular rim such that they can move around the rim.