Abstract: Each of a plurality of digits within a reconfigurable end effector is both rotated and maneuvered for grasping by a single small motor coupled to a drive shaft for the digit through a load-responsive two-speed drive arrangement. The drive arrangement couples the motor directly to the drive shaft through a slip clutch for rapid digit positioning for light load or no load conditions on the digit, then alternatively through an oscillating sprag clutch arrangement for incrementing the drive shaft at a substantially different gear ratio for low speed, high force movement of the digit when substantial loads are encountered. High breakaway friction prevents back drive of the drive shaft without the need for braking apparatus. The motor also rotatably drives a turret in which the digit is mounted through a second slip clutch until a desired rotational position is reached.

Abstract: A gripper for grasping articles in an automatic or semi-automatic handling system includes spring-loaded jaws. No fasteners such as screws, pins, or the like are required to hold the jaws to the gripper assembly. The jaws are moved by way of motor-driven cams. During a grip mode, the cams do not contact the jaws, and the grip is achieved by way of the springs acting against rollers contacting the outside of the jaws. A worm on the motor shaft compresses a spring to buffer the deceleration of the motor. The spring applies a moment to worm gears which mate with the worm on the motor shaft. The gear shaft of each worm gear is operatively coupled to a respective camshaft. In this manner, the cams are locked.

Abstract: A magnetic tape tracking system for a magnetic recorder/player having a crown guide roller whose orientation can be controlled to effect lateral movement of the tape. This movement is utilized to correct for deviation of the tape from its desired tape path.

Abstract: An automatic tape tracking system for magnetic recorder/players which samples tape position and adjusts a number of active guide rollers to maintain the tape along a predetermined track. The present system uses only perfectly cylindrical rollers and requires no edge guiding. The guide rollers are adjustable in height and to change the direction of their axes. Both adjustments are effected with the use of linear stepper motors. The tape position is monitored at various locations throughout the recorder/player by cameras which monitor the position of the edge of the tape. Output signals from the cameras are fed to a microprocessor which controls the stepper motors. Height adjustments are made to instantaneously correct tape position and tilt adjustments are made to allow the guide rollers to remain, in height, in a neutral zone.