Manipulator Working Face
Original Publication Date: 1985-Feb-01
Included in the Prior Art Database: 2005-Feb-18
Equipping a manipulator working face with three or more grippers positionable to a range of positions, and equipping a workpiece with three or more grips, acceptable to the respective grippers, allows a wide range of high precision automatic workpiece positioning. In the absence of friction the location and orientation of an object in space is defined by the position of any three points on the object. Plate 11 is a portion of the working face, to which is affixed grippers 120, 12X and 12Y. These grippers mate with grips 130, 13X and 13Y, respectively, to position workpiece 14. Power leadscrews 15X-16X-17X and 15Y-16Y-17Y move grippers 12X and 12Y into position. As implied by the symbols used, 12 and 13, together, are functionally identical to a ball-and-socket joint with a close slip fit.