Title:
A MECHANICAL CLOSED LOOP ROBOTIC ARM END EFFECTOR POSITIONING SYSTEM
Document Type and Number:
WIPO Patent Application WO/1989/011434
Kind Code:
A1
Abstract:
A mechanical closed loop robotic arm end effector positioning system allows less precise robots to perform high precision tasks. The system includes a wrist assembly (11) which is mountable to the robotic arm (12) near the arm's distal functional end. The wrist assembly (11) has a compliant member (16) and a first positioning member (18) connected thereto. The first positioning member (18) includes a first docking means (22). A second positioning member (26) associated with a workpiece fixture (28) includes a second docking means (24). The first and second docking means (22 and 24 respectively) are sized and positioned to engageably mate within the robotic arm's resolution when the robotic arm (12) attains a target position relative to the workpiece fixture (28). The compliant member (16) provides rotational and translational freedom of movement for the docking means (22 and 24) to mate as the robotic arm (12) attains its target coordinates and orientation.
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Inventors:
DERBY STEPHEN J (US)
Application Number:
PCT/US1989/002146
Publication Date:
November 30, 1989
Filing Date:
May 17, 1989
Export Citation:
Assignee:
GRASP INC (US)
International Classes:
B23Q3/18; B23Q16/00; B25J9/10; B25J17/02; (IPC1-7): B66C3/00
Foreign References:
| JPS59124530A | 1984-07-18 | |||
| US4332066A | 1982-06-01 | |||
| US4242017A | 1980-12-30 | |||
| US4562391A | 1985-12-31 | |||
| EP0083410A1 | 1983-07-13 | |||
| JPS60258045A | 1985-12-19 | |||
| US4610084A | 1986-09-09 | |||
| US4541770A | 1985-09-17 | |||
| US4744140A | 1988-05-17 | |||
| US4631815A | 1986-12-30 | |||
| US4590673A | 1986-05-27 | |||
| US4049500A | 1977-09-20 | |||
| US4201284A | 1980-05-06 | |||
| US4390172A | 1983-06-28 | |||
| US4586702A | 1986-05-06 | |||
| US4662503A | 1987-05-05 | |||
| US4537557A | 1985-08-27 | |||
| US4202107A | 1980-05-13 | |||
| US4586247A | 1986-05-06 | |||
| US4442754A | 1984-04-17 |
Other References:
Western Electric Technical Digest, No. 57, January 1980, (HOOVER), "Mass Verification Gauge" pages 11 & 12
See also references of EP 0420909A4
See also references of EP 0420909A4
Download PDF:
Claims:
[ received by the international Bureau on 14
November 1989 (14.11.89); original claims
| 1. | 3,4..v. cancelled; claims 1,2,5 ,913,19,20, 3,30 and 31 amended; other claims unchanged (8 pages)] A mechanical closed loop system for translationally locating along X, Y, Z axes and rotationally locating abou.t each of said X, Y, Z axes the distal end of a robotic arm relative to a workpiece fixture, the distal robotic arm end having an independently operated microrobotic manipulator affixed thereto for performance of high precision tasks on a workpiece positioned on said fixture, said system comprising: a wrist assembly mountable to the robotic arm, said assembly having a compliant member and a first positioning member connected to the compliant member, said first positioning member including a first docking means; a second positioning member associated with the workpiece fixture, said second positioning member including a second docking means; said first docking means and said second docking means comprising: i) a first positioning leg connected to one of said first positioning member and said second positioning member and a first positioning port associated with the other of said first positioning member and said second positioning member, said first positioning port having a tapered lead in configured to engagably receive and position said first positioning leg's free end as the robotic arm attains a target position relative to the workpiece fixture; ii) a second positioning leg connected to one of said first positioning member and said second positioning member and a second positioning port associated the other of said first positioning member and said second positioning member, said second positioning port having a tapered lead in configured to engagably receive and position said second positioning leg's free end as the robotic arm attains its target position relative to the workpiece fixture; iii) a third positioning leg connected to one of said first positioning member and said second positioning member, said third positioning leg being sized and configured such that its free end engages the other of said first positioning member and said second positioning member when the robotic arm attains its target position relative to the workpiece fixture; said compliant member providing rotational and translational freedom of movement for said first docking means to precisely position itself with respect to and interlock with said second docking means to ensure that the robotic arm attains the desired threedimensional coordinates and three dimensional rotational orientation relative to the workpiece fixture; and whereby docking of said first and second positioning members produces a translational and rotational sixdegree of freedom mechanical closed loop reference frame which separates operation of the independent microrobotic manipulator from gross movement inaccuracies and vibrations of the robotic arm. |
| 2. | The mechanical closed loop locating system of claim 1, wherein the robotic arm includes the independent microrobotic manipulator and the wrist assembly is mountable to the robotic arm without impairing functioning of the arm's microrobotic manipulator. |
| 3. | (Cancelled). |
| 4. | (Cancelled). |
| 5. | The mechanical closed loop locating system of claim 1, wherein the locating system further comprises the independent microrobotic mainpulator and said microrobotic mainipulator is secured to the wrist assembly. |
| 6. | (Cancelled). |
| 7. | (Cancelled). |
| 8. | (Cancelled). |
| 9. | The mechanical closed loop locating system of claim 1, wherein said first positioning member includes said positioning legs and said positioning ports are associated with said second positioning member. |
| 10. | The mechanical closed loop locating system of claim 1, wherein said positioning ports are associated with said first positioning member and said second positioning member has said positioning legs. |
| 11. | The mechanical closed loop locating system of claim 1, wherein said positioning legs are each substantially straight and of fixed length. |
| 12. | The mechanical closed loop locating system of claim 1, wherein said first positioning leg's free end is male conical shaped and said first positioning port is female conical shaped. |
| 13. | The mechanical closed loop locating system of claim 1, wehrein said positioning leg's free end is male wedge shaped and said second positioning port is female wedge shaped. |
| 14. | The mechanical closed loop locating system of claim 12, wherein said second positioning leg's free end is male wedge shaped and said second positioning port is female wedge shaped. |
| 15. | The mechanical closed loop locating system of claim 14, wherein said wedgeshaped free end and port are arranged colinear to lines connecting said conical shaped free end nd part and said wedgeshaped free end and port. |
| 16. | The mechanical closed loop locating system of claim 14, wherein said third positioning leg's free end is flat. |
| 17. | The mechanical closed loop locating system of claim 12, further comprising a third positioning port associatad with the one of said first positioning member and sai second positioning member not having said third position g leg, said third positioning port being configured to matably receive within the robotic arm's resolution said third positioning leg's free end as the robotic arm attains its target position relative to the workpiece fixture. |
| 18. | The mechanical closed loop locating system of claim 17, wherein said second and third positioning legs' free ends are each male conical shaped and said second and third positioning ports are each female conical shaped. |
| 19. | The mechanical closed loop locating system of claim , wherein the positioning legs form a triangular shaped configuration when said first and second members are docked and wherein the microrobotic manipulator is located within said triangularshaped configuration. |
| 20. | The mechanical closed loop locating system of claim 1, wherein the positioning legs form a triangular shaped configuration when said first and second members are docked and wherein the microrobotic mainpulator is offset from said triangularshaped configuration. |
| 21. | The mechanical closed loop locating system of claim 20, wherein the workpiece fixture includes a pad which is offset from a workpiece when the workpiece is positioned within said fixture, said pad having said second positioning member associated therewith. |
| 22. | The mechanical closed loop locating system of claim 21, wherein said pad terminates above the workpiece when positioned within said fixture and wherein said positioning ports are associated with said second positioning member. |
| 23. | The mechanical locating device of claim 1, wherein said ports are associated with said second positioning member and wherein said second positioning member is integral with said workpiece fixture. |
| 24. | The mechanical closed loop locating system of claim 1, wherein said wrist assembly is detachably ountable to the robotic arm. |
| 25. | The mechanical closed loop locating system of claim 1, wherein said compliant member is manufactured of rubber. |
| 26. | The mechanical closed loop locating system of claim 1, wherein said compliant member is manufactured of elastomeric material. |
| 27. | The mechanical closed loop locating system of claim 1, wherein said compliant member includes a spring. |
| 28. | The mechanical closed loop locating system of claim 1, wherein said compliant member is manufactured of at least two of rubber, elastomeric material, and a spring. |
| 29. | The mechanical closed loop locating system of claim 1, wherein said second positioning member is movable relative to said workpiece fixture. |
| 30. | The mechanical closed loop locating. system of claim 29, wherein said second positioning member is capable of twodimensional movement in a plane parallel to the plane of the workpiece fixture and wherein said second positioning member is located between the robotic arm's manipulator and the workpiece fixture when said first and second members are docked, said second positioning member having an opening through which said manipulator passes to communicate with a workpiece positioned within said fixture. |
| 31. | A mechanical closed loop system for translationally locating along X, Y, Z axes and rotationally locating about each of said X, Y, Z axes a first robotic arm end effector, said system comprising: a first wrist assembly mountable to the first robotic arm, said first assembly having a first compliant member and a first mechanical positioning member secured to said first compliant member, said first positioning member including a first mechanical docking means; a second wrist assembly mountable to the second robotic arm, said second assembly having a second mechanical positioning member, said second positioning member including a second mechanical docking means; said first docking means and said second docking means being sized and positioned to engagably mate within the resolution of said first and second robotic arms when the robotic arms attain target positions; and said first compliant member providing rotational and translational freedom of movement for said first docking means to precisely position itself with respect to and interlock with said second docking means as the robotic arms attain their target positions, whereby docking of said first positioning member and said second positioning member produces a translational and rotational six degree of freedom mechanical closed loop referenes frame which separates operation of the first robotic arm end effector and the second robotic arm end effector from gross movement inaccuracies and vibrations of said first and second robotic arms. |
| 32. | The mechanical closed loop locating system of claim 31, wherein the system includes the first end I received by the International Bureau on 14 November 1989 (14.11.89 ; original claims 3,4,68 cancelled; claims 1,2,5,913,19,20,23,30 and 31 amended; other claims unchanged (8 pages)] 1 A mechanical closed loop system for translationally locating along X, Y, Z axes and rotationally locating about each of said X, Y, Z axes the distal end of a robotic arm relative to a workpiece fixture, the distal robotic arm end having an independently operated microrobotic manipulator affixed thereto for performance of high precision tasks on a workpiece positioned on said fixture, said system comprising: a wrist assembly mountable to the robotic arm, said assembly having a compliant member and a first positioning member connected to the compliant member, said first positioning member including a first docking means; a second positioning member associated with the workpiece fixture, said second positioning member including a second docking means; said first docking means and said second docking means comprising: i) a first positioning leg connected to one of said first positioning member and said second positioning member and a first positioning port associated with the other of said first positioning member and said second positioning member, said first positioning port having a tapered lead in configured to engagably receive and position said first positioning leg's free end as the robotic arm attains a target position relative to the workpiece fixture; ii) a second positioning leg connected to one of said first positioning member and said second positioning member and a second positioning port associated the other of said first positioning member and said second positioning member, said second positioning port having a tapered lead in configured to engagably receive and position said second positioning leg's free end as the robotic arm attains its target position relative to the workpiece fixture; iii) a third positioning leg connected to one of said first positioning member and said second positioning member, said third positioning leg being sized and configured such that its free end engages the other of said first positioning member and said second positioning member when the robotic arm attains its target position relative to the workpiece fixture; said compliant member providing rotational and translational freedom of movement for said first docking means to precisely position itself with respect to and interlock with said second docking means to ensure that the robotic arm attains the desired threedimensional coordinates and three dimensional rotational orientation relative to the workpiece fixture; and whereby docking of said first and second positioning members produces a translational and rotational sixdegree of freedom mechanical closed loop reference frame which separates operation of the independent microrobotic manipulator from gross movement inaccuracies and vibrations of the robotic arm. |
| 33. | 2 The mechanical closed loop locating system of claim 1, wherein the robotic arm includes the independent microrobotic manipulator and the wrist assembly is mountable to the robotic arm without impairing functioning of the arm's microrobotic manipulator. |
| 34. | 3 (Cancelled) 4 (Cancelled) 5 The mechanical closed loop locating system of claim 1, wherein the locating system further comprises the independent microrobotic mainpulator and said microrobotic mainipulator is secured to the wrist assembly. |
| 35. | 6 (Cancelled) 7 (Cancelled) 8 (Cancelled) 9 The mechanical closed loop locating system of claim 1, wherein said first positioning member includes said positioning legs and said positioning ports are associated with said second positioning member. |
| 36. | 10 The mechanical closed loop locating system of claim 1, wherein said positioning ports are associated with said first positioning member and said second positioning member has said positioning legs. |
| 37. | 11 The mechanical closed loop locating system of claim 1, wherein said positioning legs are each substantially straight and of fixed length. |
| 38. | 12 The mechanical closed loop locating system of claim 1, wherein said first positioning leg's free end is male conical shaped and said first positioning port is female conical shaped. |
| 39. | 13 The mechanical closed loop locating system of claim 1, wehrein said positioning leg's free end is male wedge shaped and said second positioning port is female wedge shaped. |
| 40. | 14 The mechanical closed loop locating system of claim 12, wherein said second positioning leg's free end is male wedge shaped and said second positioning port is female wedge shaped. |
| 41. | 15 The mechanical closed loop locating system of claim 14, wherein said wedgeshaped free end and port are arranged colinear to lines connecting said conical shaped free end nd part and said wedgeshaped free end and port. |
| 42. | 16 The mechanical closed loop locating system of claim 14, wherein said third positioning leg's free end is flat. |
| 43. | 17 The mechanical closed loop locating system of claim 12, further comprising a third positioning port associated with the one of said first positioning member and said second positioning member not having said third positioning leg, said third positioning port being configured to matably receive within the robotic arm's resolution said third positioning leg's free end as the robotic arm attains its target position relative to the workpiece fixture. |
| 44. | 18 The mechanical closed loop locating system of claim 17, wherein said second and third positioning legs' free ends are each male conical shaped and said second and third positioning ports are each female conical shaped. |
| 45. | 19 The mechanical closed loop locating system of claim 1, wherein the positioning legs form a triangular shaped configuration when said first and second members are docked and wherein the microrobotic manipulator is located within said triangularshaped configuration. |
| 46. | 20 The mechanical closed loop locating system of claim 1, wherein the positioning legs form a triangular shaped configuration when said first and second members are docked and wherein the microrobotic mainpulator is offset from said triangularshaped configuration. |
| 47. | 21 The mechanical closed loop locating system of claim 20, wherein the workpiece fixture includes a pad which is offset from a workpiece when the workpiece is positioned within said fixture, said pad having said second positioning member associated therewith. |
| 48. | 22 The mechanical closed loop locating system of claim 21, wherein said pad terminates above the workpiece when positioned within said fixture and wherein said positioning ports are associated with said second positioning member. |
| 49. | 23 The mechanical locating device of claim 1, wherein said ports are associated with said second positioning member and wherein said second positioning member is integral with said workpiece fixture. |
| 50. | 24 The mechanical closed loop locating system of claim 1, wherein said wrist assembly is detachably mountable to the robotic arm. |
| 51. | 25 The mechanical closed loop locating system of claim 1, wherein said compliant member is manufactured of rubber. |
| 52. | 26 The mechanical closed loop locating system of claim 1, wherein said compliant member is manufactured of elastomeric material. |
| 53. | 27 The mechanical closed loop locating system of claim 1, wherein said compliant member includes a spring. |
| 54. | 28 The mechanical closed loop locating system of claim 1, wherein said compliant member is manufactured of at least two of rubber, elastomeric material, and a spring. |
| 55. | 29 The mechanical closed loop locating system of claim 1, wherein said second positioning member is movable relative to said workpiece fixture. |
| 56. | 30 The mechanical closed loop locating. system of claim 29, wherein said second positioning member is capable of twodimensional movement in a plane parallel to the plane of the workpiece fixture and wherein said second positioning member is located between the robotic arm's manipulator and the workpiece fixture when said first and second members are docked, said second positioning member having an opening through which said manipulator passes to communicate with a workpiece positioned within said fixture. |
| 57. | 31 A mechanical closed loop system for translationally locating along X, Y, Z axes and rotationally locating about each of said X, Y, Z axes a first robotic arm end effector, said system comprising: a first wrist assembly mountable to the first robotic arm, said first assembly having a first compliant member and a first mechanical positioning member secured to said first compliant member, said first positioning member including a first mechanical docking means; a second wrist assembly mountable to the second robotic arm, said second assembly having a second mechanical positioning member, said second positioning member including a second mechanical docking means; said first docking means and said second docking means being sized and positioned to engagably mate within the resolution of said first and second robotic arms when the robotic arms attain target positions; and said first compliant member providing rotational and translational freedom of movement for said first docking means to precisely position itself with respect to and interlock with said second docking means as the robotic arms attain their target positions, whereby docking of said first positioning member and said second positioning member produces a translational and rotational six degree of freedom mechanical closed loop reference frame which separates operation of the first robotic arm end effector and the second robotic arm end effector from gross movement inaccuracies and vibrations of said first and second robotic arms. |
| 58. | 32 The mechanical closed loop locating system of claim 31, wherein the system includes the first end CLAIMS: 1 A mechanical closed loop system for locating a robotic arm end effector relative to a workpiece fixture for performance of high precision tasks, said system comprising: a wrist assembly mountable to the robotic arm, said assembly having a compliant member and a first positioning member connected to the compliant member, said first positioning member including a first docking means? a second positioning member associated with the workpiece fixture, said second positioning member including a second docking means? said first docking means and said second docking means being sized and positioned to engagably mate within the robotic arm's resolution when the robotic arm attains a target position relative to the workpiece fixture? said compliant member providing rotational and translational freedom of movement for said first docking means to mate with said second docking means as the robotic arm attains target coordinates and orientation relative to the workpiece fixture, whereby docking of said first and second positioning members produces a mechanical .closed loop reference frame which separates operation of the end effector from gross movement inaccuracies and vibrations of the robotic arm. |
| 59. | 2 The mechanical closed loop locating system of claim 1, wherein the robotic arm includes the end effector and the wrist assembly is mountable to the robotic arm without impairing functioning of the arm's end effector. |
| 60. | 3 The mechanical closed loop locating system of claim 2, wherein the robotic arm's end effector comprises a micromanipulator. |
| 61. | 4 The mechanical closed loop locating system of claim 2, wherein the robotic arm's end effector comprises standard tooling. |
| 62. | 5 The mechanical closed loop locating system of claim 1, wherein the locating system further comprises the end effector and said end effector is secured to the wrist assembly. |
| 63. | 6 The mechanical closed loop locating system of claim 5, wherein the end effector comprises a micromanipulator.. |
| 64. | 7 The mechanical closed loop locating system of claim 6, wherein the end effector comprises standard tooling. |
| 65. | 8 The mechanical closed loop locating system of claim 1, wherein said first docking means and said second docking means comprise: a first' positioning leg connected to one of 5 said first positioning member and said second positioning member and a first positioning port associated with the other of said first positioning member and said second positioning member, said first positioning port being 10 configured to matably receive within the robotic arm's resolution said first positioning leg's free end as the robotic arm attains a target position relative to the workpiece fixture? a second positioning leg connected to one of 15 said first positioning member and said second positioning member and a second positioning port associated the other of said first positioning member and said second positioning member, said second positioning port being configured to 20 matably receive within the robotic arm's resolution said second positioning leg's free end as the robotic arm attains its target position relative to the workpiece fixture? and a third positioning leg connected to one of said first positioning member and said second positioning member, said third positioning leg being sized and configured such that its free end engages the other of said first positioning member and said second positioning .when the robotic arm attains its target position relative to the workpiece fixture. |
| 66. | 9 The mechanical closed loop locating system of claim 8, wherein said first positioning member includes said positioning legs and said positioning ports are associated with second positioning member. |
| 67. | 10 The mechanical closed loop locating system of claim 8, wherein said positioning ports are associated with said first positioning member and said second positioning member has said positioning legs. |
| 68. | 11 The mechanical closed loop locating system of claim 8, wherein said positioning legs are each substantially straight and of fixed length. |
| 69. | 12 The mechanical closed loop locating system of claim 8, wherein said first positioning leg's free end is male conical shaped and said first positioning port is female conical shaped. |
| 70. | 13 The mechanical closed loop locating system of claim 8, wherein said second positioning leg's free end is male wedge shaped and said second positioning port is female wedge shaped. |
| 71. | 14 The mechanical closed loop locating system of claim 12, wherein said second positioning leg's free end is male wedge shaped and said second positioning port is female wedge shaped. |
| 72. | 15 The mechanical closed loop locating system of claim 14, wherein said wedgeshaped free end and port are arranged colinear to lines connecting said conical shaped free end and port and said wedgeshaped free end and port. |
| 73. | 16 The mechanical closed loop locating system of claim 14, wherein said third positioning leg's free end is flat. |
| 74. | 17 The mechanical closed loop locating system of claim 12, further comprising a third positioning port associated with the one of said first positioning member and said second positioning member not having said third positioning leg, said third positioning port being configured to matably receive within the robotic arm's resolution said third positioning leg's free end as the robotic arm attains its target position relative to the workpiece fixture. |
| 75. | 18 The mechanical closed loop locating system of claim 17, wherein said second and third positioning legs' free ends are each male conical shaped and"said second and third positioning ports are each female conical shaped. |
| 76. | 19 The mechanical closed loop locating system of claim 8, wherein the positioning legs form a triangular shaped configuration when said first and second members are docked and wherein the end effector is located within said triangularshaped con iguration. |
| 77. | 20 The mechanical closed loop locating system of claim 8, wherein the positioning legs form a triangular shaped configuration when said first and second members are docked and wherein the end effector is offset from said triangularshaped configuration. |
| 78. | 21 The mechanical closed loop locating system of claim 20, wherein the workpiece fixture includes a pad which is offset from a workpiece when the workpiece is positioned within said fixture, said pad having said second positioning member associated therewith. |
| 79. | 22 The mechanical closed loop locating system of claim 21, wherein said pad terminates above the workpiece when positioned within said fixture and wherein said positioning ports are associated with said second positioning member. |
| 80. | 23 The mechanical locating device of claim 8, wherein said ports are associated with said second positioning member and wherein said second positioning member is integral with said workpiece fixture. |
| 81. | 24 The mechanical closed loop locating system of claim 1, wherein said wrist assembly is detachably mountable to the robotic arm. |
| 82. | 25 The mechanical closed loop locating system of claim 1, wherein said compliant member is manufactured of rubber. |
| 83. | 26 The mechanical closed loop locating system of claim 1, wherein said compliant member is manufactured of elastomeric material. |
| 84. | 27 The mechanical closed loop locating system of claim 1, wherein said compliant member includes a spring. |
| 85. | 28 The mechanical closed loop locating system of claim 1, wherein said compliant member is manufactured of at least two of rubber, elastomeric material, and a spring. |
| 86. | 29 The mechanical closed loop locating system of claim 1, wherein said second positioning member is movable relative to said workpiece fixture. |
| 87. | 30 The mechanical closed loop locating system of claim 29, wherein said second positioning member is capable of twodimensional movement in a plane parallel to the plane of the workpiece fixture and wherein said second positioning member is located between the robotic arm end effector and the workpiece fixture when said first and second members are docked, said second positioning member having an opening through which said end effector passes to communicate with a workpiece positioned within said fixture. |
| 88. | 31 A mechanical closed loop system for locating a first robotic arm end effector relative to a second robotic arm end effector, said system comprising: a first wrist assembly mountable to the first robotic arm, said first assembly having a first compliant member and a first positioning member secured to said first compliant member, said first positioning member including a first docking means? a second wrist assembly mountable to the second robotic arm, said second assembly having a second positioning member, said second positioning member including a second docking means? said first docking means and said second docking means being sized and positioned to engagably mate within the resolution of said first and second robotic arms when the robotic arms attain target positions? and said first compliant member providing rotational and translational freedom of movement for said first docking means to mate with said second docking means as the robotic arms attain their target positions, whereby docking of said first positioning member and said second positioning member produces a mechanical closed loop reference frame which separates operation of the first robotic arm end effector and the second robotic arm end effector from gross movement inaccuracies and vibrations of said first and second robotic arms. |
| 89. | 32 The mechanical closed loop locating system of claim 31, wherein the system includes the first end effector and the second end effector and wherein the first end effector is secured to the first wrist assembly and the second end effector is secured to the second wrist assembly. |
| 90. | The mechanical closed loop locating system of claim 32, wherein the first end effector comprises a first micromanipulator and the second end effector comprises a second micromanipulator. |
| 91. | The mechanical closed loop locating system of claim 31, wherein said second wrist assembly further comprises a second compliant member and wherein said second positioning member is secured to said second compliant member such that said second compliant member in combination with said first compliant member provides rotational and translational freedom of movement for said first and second docking means to engagably mate as the robotic arms attain their programmed target positions. |
| 92. | The mechanical closed loop locating system of claim 31, wherein said first compliant member is manufactured of rubber. |
| 93. | The mechanical closed loop locating system of claim 31, wherein said first compliant member is manufactured of elastomeric material. |
| 94. | The mechanical closed loop locating system of claim 31, wherein said first compliant member includes a spring. |
| 95. | The mechanical closed loop locating system of claim 31, wherein said first compliant member is manufactured of at least two of rubber, elastomeric material, and a spring. |
| 96. | The mechanical closed loop locating system of claim 31, wherein said first docking means and said second docking means comprise: a first positioning leg affixed to one of said first positioning member and said second positioning member, the other of said first positioning member and said second positioning member having a first positioning port associated therewith, said first port being configured to matably receive said first postioning leg's free end when the robotic arms attain target positions? a second positioning leg affixed to one of said first positioning member and said second positioning member, the other of said first positioning member and said second positioning member having a second positioning port associated therewith, said second port being configured to matably receive said second postioning leg's free end when the robotic arms attain target positions? and a third positioning leg affixed to one of said first positioning member and said second positioning member, said third positioning leg being sized and configured such that its free end engages the other of said first positioning member and said second positioning member when the robotic arms attain target positions. |
| 97. | The mechanical closed loop locating system of claim 39 wherein said first positioning leg's free end is male conical shaped and said first positioning port is female conical shaped. |
| 98. | The mechanical closed loop locating system of claim 39, further comprising a third positioning port associated with the one of said first positioning member and said second positioning member not having said third positioning leg, said third positioning port being configured to matably receive within the robotic arms' resolution said third positioning leg's free end as the robotic arms attain their target positions. positions. |
| 99. | The mechanical closed loop locating system of claim 41, wherein said second and third positioning legs' free ends are each male conical shaped and said second and third positioning ports are each female conical shaped. |
| 100. | The mechanical closed loop locating system of claim 39, wherein the positioning legs form a triangularshaped configuration when said first and second members are docked and wherein said first wrist assembly is mountable to the first robotic arm and the second wrist assembly is mountable to the second robotic arm such that the first end effector and the second end effector are each located within said triangularshaped configuration. |
| 101. | The mechanical closed loop locating system of claim 31, wherein said first positioning member is cylindrical shaped and said first docking means comprises a circularshaped positioning edge and said second positioning member is cylindrical shaped and said second docking means includes a correspondingly sized circularshaped positioning groove capable of receiving said positioning edge, and further comprising rotational orientation docking means associated with said first and second positioning members. |
Description:
PCT WORLD INTELLECTUAL PROPERTY ORGANIZATION International Bureau
INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY (PCT)
(51) International Patent Classification 4 (11) International Publication Number : WO 89/114 B66C 3/00 Al
(43) International Publication Date: 30 November 1989 (30.11.
(21) International Application Number : PCT/US89/02146
(22) International Filing Date: 17 May 1989 (17.05.89) Published
With international search report With amended claims.
(30) Priority data:
198,478 25 May 1988 (25.05.88) US Date of publication of the amended claims:
8 February 1990 (08.02.
(71) Applicant: GRASP, INC. [US/US]; 1223 Peoples Avenue,
Troy, NY 12180 (US).
(72) Inventor: DERBY, Stephen, J. ; Box 223A, Troy, NY 12180
(US).
(74) Agents: RADIGAN, Kevin, P. et al.; Heslin & Rothenberg, 450 New Karner Road, P.O. Box 12695, Albany, NY 12212-2695 (US).
(81) Designated States: AT (European patent), AU, BE (Euro¬ pean patent), CH (European patent), DE (European pa¬ tent), FR (European patent), GB (European patent), IT (European patent), JP, KR, LU (European patent), NL (European patent), SE (European patent).
(54) Title: A MECHANICAL CLOSED LOOP ROBOTIC ARM END EFFECTOR POSITIONING SYSTEM
(57) Abstract
A mechanical closed loop robotic arm end effector positioning system allows less precise ro¬ bots to perform high precision tasks. The system in¬ cludes a wrist assembly (11) which is mountable to the robotic arm (12) near the arm's distal functional end. The wrist assembly (11) has a compliant mem¬ ber (16) and a first positioning member (18) con¬ nected thereto. The first positioning member (18) includes a first docking means (22). A second posi¬ tioning member (26) associated with a workpiece fixture (28) includes a second docking means (24). The first and second docking means (22 and 24 re¬ spectively) are sized and positioned to engageably mate within the robotic arm's resolution when the robotic arm (12) attains a target position relative to the workpiece fixture (28). The compliant member (16) provides rotational and translational freedom of movement for the docking means (22 and 24) to mate as the robotic arm (12) attains its target coord¬ inates and orientation.
FOR THE PURPOSES OF INFORMATION ONLY
Codes used to identify States party to the PCT on the front pages of pamphlets publishing international applications under the PCT.
AT Austria ES Spain MG Madagascar
AU Australia FT Finland ML Mafi
BB Barbados FR France MR Mauritania
BE Belgium GA Gabon MW Malawi
BF Burkina Fasso GB United Kingdom NL Netherlands
BG Bulgaria HU Hungary NO Norway
BJ Benin rr Italy RO Romania
BR Brazil JP Japan SD Sudan
CA Canada KP Democratic People's Republic SE Sweden
CF Central African Republic of Korea SM Senegal
CG Congo KR Republic of Korea su Soviet Union
CH Switzerland u Liechtenstein TO Chad
CM Cameroon LK Sri Lanka TG Togo
DE Germany. Federal Republic of LU Luxembourg US United States of America
DK Denmark MC Monaco