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# Binary Piston Adders Used in Robotics

IP.com Disclosure Number: IPCOM000046974D
Original Publication Date: 1983-Sep-01
Included in the Prior Art Database: 2005-Feb-07
Document File: 2 page(s) / 50K

IBM

## Related People

Candelaria, R: AUTHOR [+3]

## Abstract

The IBM 7535 robot system presently features a maximum Z arm travel of 3" with no intermediate stops. By using binary piston adders many intermediate steps can be designed or implemented. The travel of the binary piston adder is defined by T=(2n-1)So, where T is the total travel, n is the number of pistons, and S is the smallest increment required. The figure shows three pistons capable of providing a total travel of 7 inches in one-inch increments. The piston sizes are a binary progression of the smallest increment. The smallest piston is P1=s(20), P2=s(21), and so on to Pn=s[2(n-1)]. For example, the figure shows cylinder A having a 1" stroke attached rigidly to a fixed bracket 12. Energizing this cylinder causes the head portion 10, which is attached to the top of the piston within the cylinder, to move upward 1".

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Binary Piston Adders Used in Robotics

The IBM 7535 robot system presently features a maximum Z arm travel of 3" with no intermediate stops. By using binary piston adders many intermediate steps can be designed or implemented. The travel of the binary piston adder is defined by T=(2n-1)So, where T is the total travel, n is the number of pistons, and S is the smallest increment required. The figure shows three pistons capable of providing a total travel of 7 inches in one-inch increments. The piston sizes are a binary progression of the smallest increment. The smallest piston is P1=s(20), P2=s(21), and so on to Pn=s[2(n-1)]. For example, the figure shows cylinder A having a 1" stroke attached rigidly to a fixed bracket 12. Energizing this cylinder causes the head portion 10, which is attached to the top of the piston within the cylinder, to move upward 1". This raises cylinder B one inch via bracket 14. It also raises cylinder C one inch via bracket 16.

Thus, the Z shaft of the robot is raised 1" via bracket 18. Cylinder B has a piston stroke of 2", and cylinder C has a piston stroke of 4". The pistons, if energized with a binary input, can be made to move in 1" increments. The total stroke length is 7". This is obtained using the full stroke of each cylinder (A+B+C) to get the 7" motion of the Z axis. The various stroke combinations are shown in the following table. D/I PORTS 1.0" stroke = Activate Cyl. A 2.0 " = " Cyl. B 3.0 " = " Cyl's. A + B 4.0 " = " Cyl. C 5....