Abstract: Power requirements for a robotic system are achieved through the employment of modular-type linear motor (LM) cells of either the one dimensional or two-dimensional type. Increasing system power requirements are met through the utilization of an increasing number of modular linear motor cells precisely positioned upon a common mounting plate to assure proper operation with a common platen.

Abstract: Surface treating apparatus employing at least two linear motors driving a multiple linkage system for positioning the outlet of treatment apparatus such as a radiation head or a sprayer for coating objects and especially large objects. A combination of different motions such as linear, rotational and a combination thereof are achieved through varying relative speeds and/or selective movements of the linear motors used to drive the multiple linkage system. Treatment of the entire surface area of the item being treated is accomplished through with the number of reduced number of components of simplified design. One dimensional and two dimensional linear motors may be employed in the system. A second embodiment has a plurality of spray assemblies. Each assembly has a single arm and linear motor which moves along two perpendicular axes.

Abstract: Position, velocity and direction of movement of a linear motor is determined by a fiberoptic encoder comprised of first and second fiberoptic bundles. The first ends of each of the bundles have their fibers arranged within a narrow elongated slit, the fibers of each bundle being distributed substantially along the entire length of the slit and further so that the fibers of the bundles are substantially interspersed with one another along said slit. One of the bundles conveys light directed upon the opposite end of the bundle to a surface adjacent said slit and along which the linear motor is moving. The remaining bundle conveys light reflected from the surface to a sensor which converts the intensity of the reflected light into an electrical signal. Changes in the reflectivity of the surface, which may be the etched stator of a linear motor system are utilized to determine the position of the linear motor along the stator.

Abstract: Collision detection in a multi-robot system. A "map" of the "world" is stored in memory. A collision map containing a desired robot move is created. The initial position of the desired robot is removed from the "world" map by combining the robot map and the "world" map in a logical exclusive-OR operation and thereafter combining the collision map and the "world" map in a logical exclusive-OR operation followed by combining the collision map and the "world" map in a logical "inclusive-OR" operation in a byte-by-byte manner. A collision is indicated by a difference in any bit position of the inclusive and exclusive-OR combinations. The lack of any difference indicates that the move may be made. Similar logic operations are performed to partially and ultimately totally deallocate an allocated path and for considering alternative moves or partial moves responsive to the presence of a "collision". The method is performed using a computer which may be no more sophisticated than a conventional personal computer (i.

Abstract: A ferromagnetic stator employed in a linear motor system is provided with a plurality of internal chambers interconnected to one another for the introduction of coolant to maintain the stator at a uniform temperature and to eliminate hot spots. The compartments are coupled to one another to permit free circulation of the coolant throughout the platen. This circulation is induced by heating of the coolant. Each chamber is connected to the adjacent chamber (or chambers) by at least two sets of openings which respectively provide for communication of hotter and cooler coolant therethrough to facilitate passive cooling. As an alternative, in extreme cases, the coolant may be pumped through the platen compartments by an external pump.

Abstract: A linear motor is movable along a substantially flat stator. Electrical, mechanical and pneumatic drive sources are coupled to the linear motor through an umbilical cord. A strain relief member, normally linked to the linear motor, is towed by the linear motor to the desired position along the platen. The strain relief member is then decoupled from the linear motor, and is magnetically (or vacuum) attracted and temporarily "locked" to the platen. A portion of the umbilical cord is clamped to the strain relief member at a point intermediate the ends thereof. The length of umbilical cord between the clamp and the linear motor hangs loosely to provide sufficient "play" between the strain relief member and the linear motor. The strain relief member, being "locked" to the platen isolates any pulling or pushing forces of the umbilical cord from being exerted upon the linear motor thereby enabling the linear motor to retain its precise position.

Abstract: A positioning system for accurately positioning components and the like in which a two-dimensional linear motor moves upon an air bearing across a large platen having a predetermined grid pattern yielding reasonably good resolution. A second two-dimensional positioning assembly of extremely fine resolution is secured to the linear motor arranged to traverse the large platen. Location sensors are provided in closed loop feedback system for detecting the X and Y positions. Coarse resolution is obtained by operating the first two-dimensional linear motor and fine resolution is obtained by operating the second two-dimensional positioning assembly, preferably after disabling the air bearing. The fine positioning system may also include a driver motor for rotating a manipulator arranged upon the second positioning system to correct for any angular misalignment of the component being placed by the manipulator.

Abstract: A technique for preventing a stalled linear motor device from damage including monitoring accelerometer servos which generate signals representative of the difference between a command acceleration signal controlling the linear motor and the actual acceleration experienced by the linear motor device which signal represents the acceleration error and the direction of the error. The different signal is compared against programmed limits to develop a break-loose signal when the programmed limit (positive or negative) is exceeded. The break-loose signal is monitored as to duration, which duration is preprogrammed according to the dynamics of the system specifications presently in use.

Abstract: A tool changer including male and female flanges for connecting end effectors to robot arms. A male flange having a tapered projection is inserted into a tapered opening in a female flange having a rod coaxial with the diameter of the tapered opening. A rotatable locking stud is aligned within an opening in the male projection and includes a slot having locking grooves at its lower end. The stud is rotated through an angle causing the male and female flanges to be drawn together until the cooperating tapers are seated together. A spring retains the flanges in the locked position. A cooperating pin and pin receiving socket respectively provided on the male and female flanges at locations displaced from the male and female tapers are utilized to assure proper orientation between flanges and to prevent rotation of the flanges.

Abstract: A robotic system in which robot devices are assembled from an inventory of elements responsive to a work request. The robotic devices include robots incorporating two-dimensional, linear motors movable along a stationary platen and coupled to various power sources through flexible, extendible, umbilical cords. The robot devices are selectively connectible with manipulators for holding parts to be assembled and/or for performing operations on such parts and/or members to which such parts are mounted. The devices are automatically assembled by selecting elements capable of performing the tasks necessary to complete the work request as well as selecting those elements which result in optimization of the assembly time and avoid collisions and cord tangling in moving along the paths traversed by the robot devices during their assembly.

Abstract: The elements making up robotic devices such as the basic robot and driving device, arms, manipulators and the like are coupled together by a novel coupling device, including a coupling device actuator mounted within an element holder for receiving the element and activating the coupling device mounted upon the element typically comprised of a pair of arms spring biased toward a locking position. The element holder is provided with a location for receiving the element and a pair of activating arms which move the locking arms between the locked and unlocked position. The receiving element has a groove for receiving the locking arms and preferably a female socket for receiving a projection on the end of the element having the locking arms. The element to be connected is normally maintained in the holder with the activators energized to retain the locking arms in the open position. The robot is moved to the holder and its element is inserted into the connecting element within the holder.

Abstract: A laminated platen for use with linear motors and the like having a laminated substructure comprised of ferromagnetic plates interspersed with insulating plates. Spaced parallel grooves are formed in the subsurface lamination in which a transverse lamination structure of alternating ferromagnetic and insulator plates are arranged to significantly reduce eddy currents in mutually perpendicular directions. A grid-like pattern is machined into the operating surface and cooperates with electromagnets in the linear motor to affect movement of linear motor along said operating surface in mutually perpendicular directions. Plural linear motors may be operated upon a common surface.

Abstract: A two-dimensional linear motor is provided with sensors respectively capable of detecting only the x and y grid lines arranged in a platen traversed by the linear motor. These signals are accumulated and their counts are compared against the respective x and y distances the linear motor is to be moved in order to move the linear motor to the precise position desired and/or to verify that the desired movement has been accomplished. Differentiation of the mutually orthogonal sets of grid lines is accomplished by providing the grid lines with reflective surfaces which have different reflectivity characteristics or alternatively have a different reflectivity characteristics at with appropriate evaluation devices such as filters or threshold circuits which differentiate between either different wavelengths or different reflectivity characterisitics.