Abstract: A highly reconfigurable end effector employing three digits, each having two pivoting degrees of freedom and a rotational degree of freedom. The digits have an asymmetrical configuration where two of the digits rotate about an offset axis and the third digit about a substantially non-offset axis allowing the digits to reconfigure about a payload. Each digit employs a strong, tendonless digit actuation mechanism for driving the pivoting degrees of freedom. A differential transmission in the digit actuation mechanism, in conjunction with a double parallelogram configuration formed by the moving segments, provides a selective enveloping or parallel vise grip grasping action of the end effector.

Abstract: The present invention provides for precision micropositioning of a robotic structure. The micropositioning system includes a number of angular encoders indicating the angular orientations of various robotic elements with respect to one another and optical devices measuring the actual deflection of load bearing arm portions of the robotic structure. A separate optical device may be attached to each load bearing arm of the robotic structure. The optical device includes a target to be disposed at one end of the load bearing arms and an optical detecting system to be disposed at opposing ends of the load bearing arms. The target includes a plurality of light sources generally disposed in a plane and at least one light source disposed outside the plane. The optical detecting system includes first and second linear detector arrays adjacently disposed with longitudinal axes perpendicularly oriented. Each array senses target motion along a single line parallel to its longitudinal axis.

Abstract: A walking machine comprising a body, six leg frames mounted on the body for pivotal movement about six parallel, spaced axes, the axes being located at the vertices of a hexagon, each of the leg frames being mounted for pivotal movement through an angle greater than 120.degree., a leg mechanism mounted on each of the leg frames, each leg mechanism including a foot, a drive mounted on the body for controlling the pivotal movement of each of the leg frames, a drive mounted on each of the leg frames for controlling movement of each foot in a direction parallel to the axes, and a drive mounted on each of the leg frames for controlling the movement of each foot in a radial direction.

Abstract: A leg mechanism for a walking machine including a plurality of links arranged in a pantograph mechanism, which links are able to fold past each other so that the legs can tuck in close to the body, permitting a machine to which such legs are attached to have a small profile so that it can maneuver in areas that are as small as a human being can maneuver in.

Abstract: A leg mechanism and horizontal actuator therefor comprising a frame member, first, second, third and fourth elongate links arranged in a pantograph mechanism, with one corner of the pantograph providing the main mounting point for the leg mechanism, a pair of crank arms connected to two of the links and extending approximately perpendicular to the ends thereof adjacent the main mounting point, and a drive member connected between the first and second crank arms for controlling the angle therebetween.

Abstract: A vertical actuator mechanism for the legs of a walking machine, including four links arranged in a pantograph mechanism, with one corner of the pantograph providing the main mounting point for each leg, which permits the use of swinging links in the vertical actuator mechanism and retains complete isolation between the vertical and horizontal drive mechanisms. Vertical actuation of the pantograph mechanism is accomplished by means of a pair of long, swinging struts connected between a drive nut mounted on a lead screw and a point on the pantograph mechanism. The struts are connected to the pantograph mechanism at a location other than the true pantograph point, the point being selected so that the foot moves approximately linearly as the strut pivots around the drive nut.

Abstract: A continuous thru-wire welding machine for welding a conductor to a terminal comprising a stationary support, first and second elongate arms having known weights, a pair of flexible plates for pivotally connecting first ends of each of the first and second arms to the stationary support with the arms being positioned in parallel, spaced, vertically aligned relationship, an electrode housing, a pair of flexible plates for connecting second ends of the first and second arms to the housing, a first conductive electrode mounted within the housing, the terminal being positionable below the electrode, and a structure for releasably supporting the arms with the first electrode spaced from the terminal, the supporting structure being adapted to release the arms whereby the weight of the arms moves the first electrode into contact with the terminal, the weight of the arms determining the force applied by the first electrode to the terminal.

Abstract: A machine for welding a conductor to a terminal in which a pair of elongated conductive electrodes having adjacent ends are mounted for axial movement toward and away from each other on opposite sides of the terminal. The opposite ends of a cable are attached to the electrodes for moving same toward the terminal. A motor applies a tension force to the cable and a sensor operatively coupled to the cable senses the tension force therein and generates an electrical signal proportional thereto. This signal is compared to another electrical signal proportional to the desired force between the electrodes and the terminal and the difference signal is utilized to control the motor.

Abstract: A method and means for determining the amount of compressional load in an assembly of clamped elements by measuring the friction between adjacent elements in the assembly. A rotatable element is positioned between two non-rotatable elements within the assembly and the torque necessary to rotate the rotatable element is measured. By measuring or calculating the torque necessary to rotate the rotatable element with a known compressional load, the relationship between torque and compressional load can be established whereby comparison of a measured torque with the established relationship permits conversion of any measured torque to compressional load in applications where element surface coefficients of friction do not change appreciably.