End Effector With DIAGONAL and Rotational COMPLIANCE Mechanism
Original Publication Date: 1985-Dec-01
Included in the Prior Art Database: 2005-Feb-19
A diagonal and rotational compliance mechanism for robotic and non- robotic applications is described and illustrated schematically in Figs. 1 and 2. The compliance mechanism is used in the handling and manipulating of printed circuit panels 10 and consists of an end-effector base 11, link L1 12, and link L2 13. The mechanism is attached via link L1 to the robot shaft 14. During operation, the vacuum suction cups 15 under the end-effector base grip the panel 10 for pickup and placement. The mechanism compensates for the inexactness (i.e., the large tolerances) encountered during pickup and placement of a panel 10. The position of the panel 10 in the tray 20 changes from panel to panel as a result of large tolerances in the tray's dimensions.