Feedback for Roll Motion in the Z-Axis of a Robot
Original Publication Date: 1984-Dec-01
Included in the Prior Art Database: 2005-Feb-06
The shaft position of a stepper motor, which drives a robot element about the Z-axis to produce roll motion, is detected so that when the shaft position is not at the proper orientation due to misalignment, the shaft is placed into its proper rotational position upon return to its home position. A robot 1 (Fig. 1) has a stepper motor 2 supported by a bracket 3 in suspended relation. The stepper motor 2 has a gear 4 mounted on the upper end of its shaft 5 (Fig. 2) for rotating a gear 6 (Fig. 3), which drives an element 7 (Fig. 1) supported on the end of an arm 8 of the robot 1 about the Z-axis. The element 7 is driven from the stepper motor 2 through the gears 4 and 6 and a pair of timing belts (not shown). A coupling 9 (Fig. 2) is attached to the bottom end of the shaft 5 for rotating therewith.