Abstract: A cam-actuated robotic manipulator system comprising an articulated robot arm adapted for multiple degrees of angular motion, and an actuator system which includes series-connected four-bar linkages and a cam input mechanism for controlling each degree of motion of the robot arm. The several series-connected four-bar linkages for each degree of motion share at least some common axes of rotation, one of which is position-variable for adjusting output position of the corresponding manipulator arm segment for a given cam input. The input mechanism to each four-bar linkage arrangement comprises conjugate cams and conjugate cam followers having an overload mechanism connected therebetween to detect obstruction to movement of the corresponding arm segment for disengaging the cam drive mechanism, and thereby preventing damage to the robot manipulator arm and actuator.

Abstract: A pneumatic conveyor for transporting and locating a series of spark plug insulator and electrode assemblies in individual corresponding spark plug cells comprising a hollow pneumatic transfer line and opposed first and second pneumatic vacuum pumps disposed in the line and controlled first to propel an insulator and electrode assembly at high speed toward the downstream end of the line and then to decelerate the assembly such that the latter exits the downstream end by substantially the force of gravity. A placement hand receives successive assemblies from the transport line and is operative first to center a corresponding shell beneath the assembly and then to drop the assembly into the shell for swaging at a later work station.