Air-Compliant End Effector
Original Publication Date: 1984-Sep-01
Included in the Prior Art Database: 2005-Feb-04
There is shown and described an end effector for use with a robotic manipulator, such as the IBM 7535 Manufacturing System. The end effector provides x, y compliance using an inflatable air bladder. Z compliance is provided using springs. The figure is a cutaway view of one-fourth of the end effector. The present device attaches at the end of the manipulator z axis 2 and comprises a first section 4 which is a spool and fits over the z shaft. Spool 4 has a generally C-shaped area machined out. Adapted to connect with spool 4 is slide 6 which has a mirror image area to that in spool 4 machined therein. When spool 4 and slide 6 meet, a cavity is formed which accepts a donut-shaped air bladder 8. Slide retainer 10 is provided to hold slide 6 in the proper position relative to spool 4.