'Z' Sensor-Force Module and 'Z' Sensor-Variable-Force Module
Original Publication Date: 1985-May-01
Included in the Prior Art Database: 2005-Feb-18
This article describes an arrangement wherein the Z arm of a robotic device has a force module for responding to force on the arm indicative of non-fitting in an assembly operation. In the variable module arrangement the force response is variable by varying the air pressure in a cylinder. In the arrangement illustrated in Fig. 1, a spring-loaded force module is mounted on the Z arm of a robotic device and comprises a top plate 1 and a bottom plate 2 which are loosely connected to each other by means of rods 3. Springs 4 are mounted on rods 3 and hold the plates apart. A switch 5 is mounted on bottom plate 2. A gripper 6 is carried by tool holder/adapter 7.