Three-Axis Compliant Pickup
Original Publication Date: 1984-May-01
Included in the Prior Art Database: 2005-Feb-03
There is shown and described a compliance device for robotic pickup of planar articles. Fig. 1 shows the general environment in which the present device operates. Fig. 1 includes a robot 2 with a movable arm 4. Gripper 6 is attached to arm 4 for movement therewith and holds rod 8. Compliance device 10 is attached to the end of rod 8. Planar articles 11 are held by vacuum suction to compliant pickup device 10. Fig. 2 is an enlarged detail view of compliance device 10. Device 10 includes an outer frame 12 and an inner frame 14. Pins 16 and springs connect the two frames and provide X- and Y-axis compliance. The end of each pin 16 is slidably moveable in a direction transverse to its axis in openings 18 in frame 12. Vacuum pickup means 19 are provided at each corner of outer frame 12.