Abstract: A feeler device comprises a support structure in which a movable assembly is movably mounted along three axes, the movable assembly carrying at one end a feeler member. The movable assembly is suspended in the support structure by means of laminar elements which have respective slots of spiral, preferably logarithmic, form.

Abstract: The device comprises a support structure movable along at least a first reference axis, a feeler member carried by the structure so as to be able to effect limited relative displacements along the axis relative to a predetermined rest position, and detector means for providing electrical signals indicative of the magnitude and direction of the movements of the feeler member relative to the structure. According to the invention, the feeler device comprises at least a first intermediate structure supported by the structure by first blades which can be bent in a plane parallel to the reference axis; the feeler member is also supported by this intermediate structure by second blades having bending characteristics substantially the same as those of the first blades in a plane parallel to the references axis. The feeler device may be made so as to be able to detect movements of the feeler member relative to the support structure along two or three independent axes as well.

Abstract: A programmable automatic manipulator system, implementable in an arc welding application, involves a manipulator member which may be pre-programmed to move about a plurality of axes of movement. A path sensing probe is connected to a tool attached to the end of the manipulator member in order to detect deviations along the path to be followed. The detected deviations are used to program a desired path of movement and also to adjust the path of movement of the tool in a playback mode in accordance with actual conditions sensed by the probe. Probe signals are periodically interrogated in both the teaching and playback mode in order to detect the extent of deviation of the path from a straight line. The smaller deviations are automatically implemented between interrogation cycles while the larger deviations are stored in the teach mode for retention within the permanent register that contains the program recording the path of movement.