Abstract: A multiple-function hand useful in automated laboratory operations, particularly liquid transfer operations. A gripper and a piston operated syringe are made compatible on a single function by mounting such that their mechanical actuating mechanisms are operated parallel to one another, while the operating vector of the syphon, i.e., the direction of piston movement and direction of gripper lift are at right angles one to the other.

Abstract: A torque-sensing rotary tool for use in bottle-capping, and other such applications. The tool (10) is characterized by independent motors (30 and 40) means for gripping and rotating bottles or the like and a rotation-counter which forms means, with associated circuitry (FIG. 9), to determine when an object, e.g. a bottle cap, may be safely lifted by automatic machinery, e.g. by robot means.

Abstract: Improved means for evaporating liquid to obtain solid residue. The invention is particularly useful where small quantities of a solid is to be recovered from a first liquid medium and dissolved in another liquid medium. The invention comprises a receptable for holding the liquid to be treated and means to sense the temperature of the evaporating process and terminate the evaporating process at any appropriate predetermined temperature condition, thereby avoiding excessive drying of a particular material.

Abstract: Apparatus constructed such that it may control various other equipment for the performance of various work tasks, even other equipment yet to be designed for work tasks yet to be designed. The apparatus comprises a central computer control means comprising (1) a dictionary storage means for tagging and storing command-specific parameters for a specific work tasks and that specific robot module to which each of the parameters belongs and (2) sequencing means to schedule said work-tasks for a plurality of said modules. The module also can be activated for the task without use of the sequencing means, e.g. by having the module request one of its own dictionary entries.

Abstract: A self-configuring robotic system and method are disclosed. The system employs a computer having a central processing unit and an operating system containing at least a nucleus, a sequence reprogrammer and task support services. A robotic device and at least one defined task performing device, which may be another robotic device, are used in the system. Each device has a corresponding module that is electrically connected to the device and provides all of the intelligence for the particular device. Each module also provides a control block flag and a starting offset for the computer. The modules are electrically connected to the computer through a plurality of physically separable electrical connections so that all of the intelligence for the devices is on the device side of the associated physically separable electrical connections.

Abstract: A means for automatically replacing tool means on a robot arm comprising a novel automatically releasable tool means, comprising electrical control conduits communicating with said robot and, in proper circumstance, with a tool rack to signal its position and condition on said rack.

Abstract: A compact robot of the 3-axis type comprising a base-mounted motor control system with means to sense the position of a robot arm through a servo-system comprising position-sensing potentiometers mounted in the motor control system and a feed-back control system to co-ordinate the vertical and horizontal movement of a robot arm.

Abstract: A robot system comprising readily interchangeable hands. Usually the system will be controlled by a computer which will communicate with servo motors in each hand through an analog pulse width generator on the robot. The computer controller will also be able to utilize robot-associated circuitry to obtain information directly from each hand.