Abstract: A vacuum lifter for a moving load having an adhesion surface comprising at least one suction head having several annular seals projecting from its suction side and forming vacuum spaces enclosed by the seals. The vacuum spaces communicate with a vacuum source. The vacuum source communicates through valves with the outer vacuum space. The valves are controlled by sensors detecting the magnitude of the adhesion surface of the load. In order to prevent impulsive detachment and especially unwanted renewed lifting of the load after it has been deposited, a compressed-air system associated with at least one of the vacuum spaces and a control system turns ON and OFF the compressed-air system in order to initially raise the pressure to atmospheric and to thereafter generate a positive pressure air cushion separating the lifter from the load.

Abstract: A finger module includes a first link module rotating around a first joint shaft; first through third drive modules respectively fixed to the first link module and each having an electric motor, reduction means and output means; a second link module driven and rotated by the second drive module; and a third link module driven and rotated by the third drive module. In a finger module structure of the above finger module, the first through third drive modules and the second link module are separately provided in the first link module, and the third link module is provided in the second link module. A robot hand includes at least two of the finger modules side by side.

Abstract: An apparatus for lifting truck trailers and cargo containers is provided and includes a plurality of latch arm assemblies. A side fitting connection device is secured at four predetermined locations on external upper side locations of a trailer or a container. Each interlocking latch arm assembly includes a complementary shaped projection member adaptable to engage with and be secured to each side fitting device. The side fitting connection device and latch arm assembly, when connected and engaged together, permit top side lifting of trailers and containers for intermodal movement thereof. The external upper side locations of the side fitting device permit full, complete and more profitable usage of the internal space or volume of truck trailers or cargo containers.

Abstract: A load is gripped between a pair of load-engaging surfaces while the magnitude of any slippage between the load and the surfaces is variably sensed. A slip-correcting system variably predetermines an increase in the grip sufficient at least to decelerate the sensed magnitude of slippage, and the grip is automatically variably increased accordingly. Preferably, the magnitude of slippage sensed is a magnitude of relative movement between the load and the load-engaging surfaces, and preferably the magnitude of relative movement is a time-based magnitude such acceleration. The predetermined increase in the grip resulting from the sensed magnitude of slippage is preferably a predetermined increase in the proximity of the load-engaging surfaces, rather than any particular increase in the gripping force applied by the surfaces. A preferred fluid-powered embodiment of the clamp apparatus is disclosed for use on lift trucks in handling paper rolls and the like.

Abstract: For use in winding stator coils using fine wire, a lead pull assembly having two wire clamping jaws, one of which is air-driven by a clamping cylinder, is provided with a spring-biased plunger assembly that biases the air-driven clamping jaw to a slightly open position when air pressure is removed from the clamping cylinder to ensure that the clamping jaws can slide along the wire segment between the clamping jaws.

Abstract: Stacks of blanks arranged in substantially orderly manner on a supporting surface are picked up successively by a powered pickup head for supply to a user machine; the pickup head presenting a pair of intercepting sensors for simultaneously intercepting a given reference edge of the stack when the head is set to the correct pickup position in relation to the stack; and the pickup head being set to the correct pickup position by means of a series of successive rotary and translational movements in the event only one of the sensors intercepts the reference edge of the stack.

Abstract: A suction-type metering robot hand comprising (a) a hollow suction pad having a gas-permeable obstacle at an opening of the suction pad; and (b) a main body of the robot hand supporting the suction pad and having a vacuum passage communicating with the suction pad. According to the robot hand of the present invention, the provision of the net on the opening of the suction pad makes it possible to suck fragile articles such as a fried cutlet, roasted bean curd, a piece of bread and the like to a desired place.

Abstract: The invention relates to a pneumatic prehension device or pincers constituted by a body pierced with a cylinder-forming boring inside which a piston can slide under the action of pressurized air. Two fingers are movably mounted on the body so that they can assume all of the positions found between an extreme open position and an extreme closed position. A shackle comprises a governing mechanism for opening and closing of the fingers. When it slides, the piston is capable of driving the shackle in translation so as to govern the opening or the closing of the fingers. The shackle (12) has a cylindrical head (13) provided to slide and be guided inside a bore (3), the axis of which is the same at the axis of bore (2) that receives piston (5). The shackle also comprises a coaxial rod (17) at the end of which piston (5) is assembled with radial play.

Abstract: Robotic hand includes retractable paddles for supporting an article and a vertically-movable top paddle for engaging an upper surface of the article. The top paddle is mounted on an upper free end of a band of sheet-like material, which may be extended above the top surface of a housing of the robotic hand. Inflatable bladders in the retractable paddles have a relatively high coefficient of friction, and the top surface of the paddles has relatively low coefficient of friction. A force sensor may be provided in the lower surface of the top paddles.

Abstract: Disclosed is a crane for moving an object such as a water dam gate having an attachment device, e.g., a hook, to be engaged by a hookup link. The link is mounted on the crane lifting block for link movement between a first position for engaging the gate hook and a second position for releasing the hook. Aspects of the invention involve a first apparatus for detecting when the link is within a predetermined location near the hook and a second apparatus for determining whether the link is in the first position or the second position. Other aspects of the invention involve a unique cable reel and link line arrangement whereby the hookup link is engaged or disengaged from the hook. A method for moving an object, e.g., a gate of a dam, is also disclosed.

Abstract: Apparatus for transporting packaging material supply reels from a storage location to a consumption station which includes a gripping mechanism for engaging the core tube of the supply reel and a support for the gripping mechanism, the support permitting the gripping mechanism to be moved in three mutually perpendicular directions. The support includes a pair of angularly arranged, pivotal contact arms which define an angle, the axis of the gripping means lying in a plane which bisects the angle between the contact arms. Deflection of both arms to preselected angular positions against a resiliant bias will be indicative of establishment of a coaxial relationship between the gripping mechanism and the core of the supply reel whereupon the gripping mechanism may be inserted into the core for engagement therewith and subsequent reel transfer.

Abstract: The object of the invention is a method and a system for setting the hydraulic pressure influencing a hydraulic grab member by using adjustment members. The setting of the maximum value of the pressure takes place automatically by reading the identifying information on the piece (6) being handled by means of a reading device (1), on the basis of which the control unit (3) linked to the reading device (1) directs the adjustment member (4). When the operator of the system starts raising the hydraulic pressure from the hydraulic tank (13) by means of the operating valve (9) of the grab member (5), the adjustment member (4) limits the hydraulic pressure going to the compression cylinder (8) of the grab member (5) and thus a compressive force of the correct magnitude is directed onto the piece (6) being handled.

Abstract: A sucked substrate detecting apparatus is provided which comprises sucking pads for sucking disk substrates, a main pipe connected to the sucking pads, a vacuum pump connected through a first valve to the main pipe, first and second branch pipes connected respectively to the main pipe, a second valve connected to the first branch pipe, for opening and closing with respect to the atmosphere, a pressure sensor connected to the second branch pipe, for substantially detecting the pressure in the main pipe, and a controller connected to the first and second valves. The sucked substrate detecting apparatus can judge on the basis of the output levels produced from the pressure sensor, the presence or absence of a disk substrate sucked by the sucking pads and whether or not the disk substrate has been satisfactorily sucked by the sucking pads.

Abstract: The invention concerns a vacuum lifter to transport loads with an adhesion surface and comprises at least one suction head with at least one projecting annular seal on its suction side, where the vacuum chamber(s) enclosed by the annular seal(s) is (are) hooked up to a main vacuum source and where additionally a battery-fed emergency vacuum source is provided which can be started by an emergency switch. In order to avert as much as possible crashes when using such a vacuum lifter, a pressure pickup (67) is associated with the or at least one of the vacuum chambers (13) and is coupled in such a way with a malfunction alarm (69) that when a preset limit pressure is exceeded during vacuum operation, the malfunction alarm (69) shall be turned ON.

Abstract: A robotic placement device (FIG. 1) comprises a programmable end-effector (200) for picking and placing component parts. The programmable end-effector (200) comprises a cylinder (201) having a piston (202) including a first (203) and second (208) shafts coupled together. The first shaft (203) of the piston is larger than the second shaft (208). A controller (102) controls a pressure applied to the cylinder (201) and the piston (202) including the first (203) and second (208) shafts of the programmable end-effector (200) establishes a predetermined placement force at the programmable end-effector (200) while placing component parts. A control circuit 118 senses the pressure and in response thereto generates a signal. A processor 108 coupled to the controller (102) processes the signal and in response thereto varying the pressure for maintaining a substantially constant placement force at the programmable end-effector (200) while the programmable end-effector (200) moves vertically.

Abstract: Procedure and apparatus for the handling of loads using jaws pressed against the sides of the load. In the procedure of the invention, the slippage between the load and the jaws is measured and the compressive force of the jaws is adjusted on the basis of the slippage. The slippage is measured at least during a preliminary lifting performed before the load is lifted or at the beginning of the lifting operation. During the preliminary lifting the load can be lifted at an essentially lower speed than during the main lifting operation. The compressive force is increased during the preliminary lifting from a predetermined precompression value to at least a value at which the slipping ceases.

Abstract: Gripper apparatus for electric motor components that can be used to grip components of different sizes, and that can rotationally index electric motor components of different sizes, is provided. The gripper apparatus has two oppositely facing gripper arms with complementary V-shaped faces sized to accommodate a range of sizes of components. The arms are moved together in unison to center and grip the component. After the component has been gripped, an indexing pawl rotates the component. A tooth is urged against the component and stops the rotation when it enters a depression or slot in the component, indicating that the desired angular position has been reached.

Abstract: A manipulating device includes a gripper (11) for gripping workpieces (19) by way of a negative pressure. A suction pump for generating and feeding the negative pressure as well as at least one valve (24) are disposed in a casing (14). The casing is connected with the suction gripper (11). The negative pressure can be applied to the suction gripper (11) by means of the valve (24).

Abstract: Apparatus for gripping a workpiece such as a rotor is provided which includes gripper arms, a pressure-sensitive sensing member on one of the arms for continuously measuring the gripping force applied by the arms, and a piezoelectric actuator on the outer arm which is actuated to provide fine adjustment of the gripping force in dependence on the output of the sensing member.

Abstract: The illumination system of the present invention is used with an object handling system to selectively illuminate a predefined target area in a manner that creates a dark area outside of the target area. This illumination system is used in conjunction with an object handling system that contains a plurality of object storage locations located in an array format, such that object storage locations are adjacent to each other both vertically and horizontally. In order to precisely illuminate a selected object storage location and not the adjacent object storage locations, the illumination system of the present invention angularly orients a pair of illumination devices with reference to the object storage locations in order to create shadows outside of a selected object storage location while illuminating the selected object storage location.

Abstract: A system is provided for determining the presence, or absence of a component on the end of a vacuum pickup device. A monitor having a transparent body portion and plural air flow passageways is provided. An indicator is provided for each vacuum pickup device and contained within the air flow passageway intermediate a vacuum source and the vacuum pickup device. The position of the indicators within the flow passage is dependent upon the presence, or absence of a component on the end of the vacuum pickup device. With a component present on the pickup device, air flow through the passageway, due to the application of the vacuum source, is minimal and the indicator will be biased in a first direction. However, when a component is absent the pickup device, substantial air flow occurs through the passageway, thereby biasing the indicator in a second direction.

Abstract: A piston-cylinder assembly is equipped with means for determining and validating the piston position of that assembly part of a robot. A piston 1 slides axially in a cylinder 2, and moves a permanent magnet 13. The resulting magnetic field is sensed by a Hall effect transistor. A member 12 is controlled by a program of analog signals coming from the sensor. When the run of piston 1 is stopped, the position of that piston is one of the positions that have been previously determined and memorized by control member 12.

Abstract: A vacuum cup control apparatus for applying and releasing vacuum in a vacuum cup engaging a workpiece includes a housing having a venturi passage for inducing a vacuum within the vacuum cup upon the flow of air through the venturi passage. A one-way check valve in the passage seals the vacuum in the vacuum cup upon cessation of air flow through the venturi passage. Another air flow passage extends through the housing to a control port on the housing for injecting a flow of air under pressure to the vacuum cup to relieve the vacuum therein. A sensor mounted in the housing senses the vacuum level attained in the vacuum cup. A feedback signal is sent by the control apparatus to the external controller as an indication that a predetermined vacuum level has been achieved. The control apparatus is responsive to the sensor and signals from an external controller for applying vacuum to the vacuum cup until a predetermined vacuum level is attained in the vacuum cup.

Abstract: A sucker for suctioning and lifting a sheet of plate glass has a sucker body defining a suction hole at a suction surface of the body. The sucker body carries a manual vacuum pump formed with a suction hole, a sensor for detecting the degree of vacuum and a sound generator. The sensor is provided in a suction channel connecting the suction hole at the suction surface of the sucker body with the suction hole in the vacuum pump. The sound generator is turned on when the sensor detects a predetermined degree of vacuum.

Abstract: A split rail gripper for robotic apparatus and including a pair of rails which are driven in mutually opposite directions by a rack and pinion gear mechanism. Each rail includes a set of rack gear teeth which engage respective pinion gears and where the top rail engaging one of the pinion gears is driven by a harmonic gear reduction drive and motor unit coupled to an drive screw. The other pinion gear is driven by the top pinion gear engaging a set of rack gear teeth included in the bottom rail. As the top rail is driven in or out, the upper pinion gear is rotated, causing the other pinion gear, in turn, to rotate in the opposite direction. This causes the bottom rail to move in an opposite linear direction relative to the top rail.

Abstract: The device comprises a gripper (15) whose arms (16, 17) hold at their free end an on-loading mechanism (18, 19) designed to engage a load (13) by gripping accessories (14). Two connecting rods (21, 22) constitute a deformable diamond with the upper part of the gripper (15). The lower ends of connecting rods (21, 22) are hinged to a shoulder (27) of a guide column (28) on which moves a slide (29) forming the head of the gripper (15). Two jacks (45, 46) control the opening and closing of the gripper (15). A connector arm (30) links the shoulder of column (28) to a turning grappling rope (10) and allows the center of gravity to be corrected by a jack (52). This gripping device is intended for use with raising devices such as turret slewing cranes.

Abstract: An assembling hand according to the present invention includes a hand body, a first finger member capable of moving along the hand body, a rotational housing rotatably fastened to the hand body and a second and a third finger members capable of moving along the rotational housing in opposite directions to each other. A part holding operation is performed by the first, second and third finger members, with the rotational position of one part being restricted by the first finger member and the rotational position of another part being adjusted by the second and third finger members.

Abstract: A gripping and manipulating apparatus is mounted on a conveying vehicle and comprises an articulated arm and gripping member. The gripping member is disposed at the moving end of the articulated arms and comprises a multi-element lazy-tongs mechanism having two receptacle retainers. The movement of the retainers is produced by a drive element, a part thereof acting on guide elements. The guide elements are pivotally connected to the retainers. The gripping member can fold down to a reduced dimension and its three pivots lead to a compact construction for the conveying vehicle. Also, a securing device is included for securing the end of a band or sheet or the like of textile material and is disposed on the articulated arm or on the gripping member and is movable therewith. The space required between the vehicle and the textile machines and between the individual receptacles is reduced.

Abstract: A work pickup apparatus is provided with a pickup main body, at least three pickup segments radially movable from substantially a center of the pickup main body, and a driving motor for driving the pickup segments in a synchronous state to pick up a workpiece.

Abstract: An electromagnetic attachment mechanism for use as an end effector of a remote manipulator system. A pair of electromagnets 15A, 15B, each with a U-shaped magnetic core with a pull-in coil 34 and two holding coils 35,36 are mounted by a spring suspension system 38,47 on a base plate 25 of the mechanism housing 30 with end pole pieces 21,22 adapted to move through openings in the base plate when the attractive force of the electromagnets is exerted on a strike plate 65 of a grapple fixture 20 affixed to a target object 14. The pole pieces are spaced by an air gap from the strike plate when the mechanism first contacts the grapple fixture. An individual control circuit and power source is provided for the pull-in coil and one holding coil of each electromagnet. A back-up control circuit connected to the two power sources and a third power source is provided for the remaining holding coils.

Abstract: An article holding apparatus includes a pair of sliding plates selectively movable toward or away from each other while being maintained parallel to each other. A distance between the sliding plates is adjustable. Suction pads are provided on inner surfaces of the sliding plates respectively. The suction pads may include first suction pads for holding a large article and second suction pads for holding a small article. Sensor elements may be mounted on the plates to sense whether a large or a small article is present to be handled thereby.

Abstract: A plurality of gripper modules positioned in space apart relationship along a frame member provide an end-of-arm tool. A pair of gripper modules disposed on opposite sides of the end-of-arm tool each support a Hall effect sensor which is coupled through a signal processing circuit to control the heads of the gripper modules.

Abstract: An elementary sensor for sensing a force comprises a transducer for transforming a mechanical deformation to an electric signal, and a first strain generative body (20) including a supporting portion (21) and a working portion (23) connected to the transducer so as to allow the transducer to produce a mechanical deformation on the basis of a displacement relative to the supporting portion of the working portion. By further adding a second strain generative body (30) including a fixed portion (31) fixed at least with respect to the direction of a force to be detected, and a displacement portion (33) connected to the working portion of the first strain generative body, wherein the displacement portion is constructed to produce a displacement based on a given external force relative to the fixed portion to transmit the displacement thus produced to the working portion of the first strain generative body, a force detector applicable to a wide variety of measurement ranges can be realized.

Abstract: The invention describes an arrangement (1) for the handling of components ) with a gripping device (3) which is displaceably mounted via a displacing drive (10) along a guide path (8). The gripping device (3) comprises two gripper fingers (28,29) which are displaceable relative to each other, and an adjusting drive (6) and also a measuring device (44). Associated with a gripper finger (28,29) is an adjusting element (34), which is connected via a link arrangement (39) with the gripper finger (28,29). The adjusting element (34) is displaceably mounted along a guide path or respectively its guide columns (26,27) aligned vertically to the guide path of the gripper finger (28,29), and is movably connected with the adjusting drive (6).

Abstract: A layer clamp hand for use in unloading or loading layers of product from or to a pallet is provided with side clamps that assist primary clamps in maintaining a layer of product in position on the layer clamp hand while the layer clamp hand is loading or unloading a layer of product. The side clamps are mounted and controlled such that they are insensitive to the at rest position of the layer of product to be lifted by the layer clamp hand. In addition to side clamps a carton flap hold-down platen is provided to urge flaps on cartons to be folded down to a position where the flaps would be in a folded down position normal to a fully closed carton.

Abstract: The apparatus for feeding packaging machines with stacks of sheet material comprises a unit for removing and transferring stacks of sheet material which are arranged mutually side by side on supports, so as to form superimposed layers separated by supporting trays which have, in an upward position, ridges which define, below each stack, a through opening. The removal and transfer unit has a head provided with a grip element which can laterally approach each stack through the opening, grip the stack in a clamp-like manner and transfer it to a station for feeding the material in sheets to the packaging machine. A device for removing the emptied supporting trays is provided.

Abstract: An apparatus capable of automated and/or robotic assembly, comprises a vacuum nozzle (100) capable of aspirating and securing an electrically conductive assembly component (114). The electrically conductive assembly component (114) is electrically coupled to an electric conductance sensor for detecting the presence of the electrically conductive assembly component (114) at the vacuum nozzle (100).

Abstract: An articulated hand comprising a plurality of finger module structures each of which has one top end provided with an abutting member for contacting an object and the other end connected to a finger connecting member and has a plurality of articulates formed between the one and the other ends by combination of a plurality of link members and articulate turn-shafts; a plurality of motors provided at the other ends of the respective finger module structures integrally therewith; a power transmitting device for transmitting motor powers to the articulate turn-shaft and a hand structure connected to a manipulator. The finger modules are arranged in a manner so that the articulate shafts are driven independently of each other, and each of the link members is provided with sensors respectively for directly detecting a relative angle and relative torque between adjacent link members.

Abstract: Apparatus for storing articles including walls defining a bin enclosure having an opening for transporting articles therethrough, a support for supporting articles in an article storage region in the enclosure, and a source of pressurized particle-free air to the region to provide a higher pressure in the article storage region than outside of the enclosure. Also disclosed are an energy beam vision system that is carried by a transport system and interfaces with the walls and a controller that controls the transport mechanism in order to properly align the relative positions of the transport mechanism and the enclosure.

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 gripping apparatus has at least two elongated piercing elements which slide in elongated collars or sleeves between open retracted positions and closed gripping positions. The piercing elements define an angle and they move toward the vertex of the defined angle when they move from the open position to the closed position. The orientation of the piercing elements and their path of travel are such that objects are reliably and securely held when the piercing elements are in their closed positions and positively released when the piercing elements are in their open positions. A sensor may be provided with the gripping apparatus to sense the presence or condition of the gripped object. The gripping apparatus is especially useful in grasping the root masses of plants for transplanting purposes.

Abstract: A gripper for the advantageously robotized handling of one or more silicon wafers (5) comprises a part (2, 102) which allows the gripper (1, 101) to be secured to an operating arm or other handling member (3), the part (2, 102) being rigid with a support structure (4, 104) for the silicon wafers. The structure (4, 104) comprises at least two mutually cooperating opposing jaws (9, 10; 109, 110) mobile relative to each other; the jaws (9, 10; 109, 110) are provided with at least one seat (16, 116) for adapting to the shape of the lateral edge (17) of the wafer (5) supported by the jaws during its handling. Advantageously, on one side (108) of the wafer support structure (104) there are provided at least two members (174) mobile relative to the side (108) and arranged to cooperate with a silicon wafer holder or boat, to enable this latter to be supported and handled.

Abstract: A tactile micro-gripper is disclosed having a combined lever and spring linkage. The lever flexes at predetermined points and is coupled to the spring and to an actuator. The spring is of a parallelogram type, so that the ends remain parallel to one another when the spring is bent. When the actuator causes the lever to move transversely, the end of the spring is caused to move laterally in a parallel manner. A pair of lever and spring linkages are arranged together so that they cooperatively act together to manipulate a pair of fingers, which are attached to the ends of the springs, to grip and release objects. Tactile sensing is accomplished by means of a cantilever beam and an optical detection system disposed in the tip of the fingers.

Abstract: A parts mounting apparatus which picks up a part by using a suction nozzle provided in a mounting head and transports the part so as to mount the part at a predetermined position, has: a suction nozzle portion including a suction nozzle, a light transmitting plate and a suction cylinder assembled such that the suction nozzle, the light transmitting plate and the suction cylinder define a suction chamber; the suction nozzle is made of light transmitting material; the light transmitting plate is spaced a proper distance from the suction nozzle; and the suction nozzle, the light transmitting plate and the suction cylinder connected integrally with each other.

Abstract: A clamping arrangement for stabilizing a load carried on an elevationally movable load engaging device of a material handling lift mast has a clamp movably connected to the load engaging device and an actuator for moving the load engaging clamp between first and second spaced apart locations in response to the actuator being moved between extended and retracted positions. A connecting device connects the actuator to the load engaging device and maintains the load engaging clamp from movement toward the second position in response to engagement between the load engaging clamp and the load and provides a preselected amount of movement of the actuator relative to the load engaging clamp subsequent to engagement between the load engaging clamp and the load and thus reduces the potential of damaging the load. The clamping arrangement is particularly suited for use on an automatic guided vehicle.

Abstract: In an apparatus for transporting textile laps to a comber, wherein the apparatus includes a bridge structure for traveling movement between a lap storage station and the comber, a trolley movable along the bridge structure, and a lap gripping mechanism suspended from the trolley by an elevating mechanism, sensors are provided for detecting the presence of a lap at the lap storage station and detecting the central supporting tube of the lap for precisely positioning the gripping mechanism at a lowered position at the lap storage station to engage a full replacement lap. A controller is associated with the sensors for controlling subsequent lowering of the gripping mechanism at the comber by the same distance the gripping mechanism was lowered at the storage station to initially receive the replacement lap, thereby to insure that the lap is deposited at the comber safely and gently without damage.

Abstract: A system for locating a corner of an angularly oriented workpiece on a worksurface includes a gripper and associated two axis transport assembly, and a set of sensors on the gripper for detecting reflected radiation from the workpiece and surrounding work. A controller translates the gripper in the directions of two orthogonal axes until the sensors each overlie an edge of the corner-to-be detected. In the preferred form, the transport assembly includes a pneumatic position control system for each axis. Each pneumatic position control system includes an air cylinder and associated piston, a position valve assembly and a controller, and may further include a velocity valve assembly. The controller may control the position valve assembly to be in a first state during a selected time interval, thereby establishing axial motion of the piston in a first direction during that interval.

Abstract: An improved robotic end effector is disclosed. The end effector of the present invention possesses a novel breakaway clutch, which is combined with mechanically linked finger joints to significantly reduce control complexity while retaining the ability to accomplish enveloping grasps. In another embodiment, a finger using compliant tendons to accomplish enveloping grasps is disclosed. A novel palm/finger configuration which further increases the versatility of the disclosed end effector without unduly increasing complexity is also disclosed. Methods of manipulating an object are also disclosed.

Abstract: An end effector secured to an front end of a manipulator of a remote manipulator system and having a function for clamping dedicated objects, wherein a force (or torque) applied to the end effector at the time of clamping the dedicated object is detected so that a driving portion of the end effector is feedback-controlled in order to protect the end effector from being applied with a force (or torque) exceeding a predetermined level.

Abstract: A support device of the present invention includes an expansible means attached to at least one of plural support systems for supporting an object. Even when the object has dimensional errors caused in its making process, therefore, the interval between the support systems which contact the object to be supported can be self- and micro-adjusted. This enables objects, different in shape, to be correctly positioned and supported.