Abstract: An automated storage library includes a robotic picker which moves linearly between linear and/or carousel storage shelves to transport data storage cassettes between the shelves and a data transfer device. The picker arm can swing in a vertical arc to access the tape stores on either side of its linear path. The arm also has at least one rotatable wrist and a pair of end effectors. A data storage cassette may be extracted from a data transfer device, the wrist rotated 180.degree., and a new cassette inserted. This reduces the number of times the robot has to visit the tape stores. The vertical arc movement of the picker arm provides for accurate orientation of the effectors with respect to the shelves and the data transfer devices.

Abstract: A robotic manipulator for picking and placing data storage cassettes in an automated storage library. The manipulator has a pair of fingers, one finger being longer than the other. An eject bar is located between the fingers and has a tab for pushing a storage cassette into the seated operative position in an IBM 3480 type tape reader. The manipulator approaches the slot in the reader, supporting the data cassette on the long finger and holding it in place with the short finger. The short finger pivots to free the cassette and the eject bar pushes it into the reader. When the eject bar is clear of the long finger it pivots downwards so that the tab engages the top of the cassette and pushes it into the seated position in the reader.

Abstract: A robotic system has a transfer bay through which objects may be exchanged with a robot. An internal door allows the robot to access the transfer bay and an external door allows access to the transfer bay from the exterior. The external door can only be opened when the internal door is closed and when the robot is denied access to the transfer bay. This means that personnel inputting or outputting objects to the robotic system cannot come into contact with the robot. When the robotic system is an automated storage library the transfer bay may comprise any number of available storage shelf bays and thus the size of the transfer bay may be varied.

Abstract: A robotic assembly system for the automatic assembly of a complex article such as a CRT display unit has a number of workstations positioned along an open conveyor system at each of which as assembly operation is performed by a conventional stand-alone robot.Each workstation is provided with a basic lift mechanism (36, 17, 21, 24, 28) which when operated lifts a pallet (4) supplied thereto from the relatively imprecise surface of the conveyor (1) into a predetermined horizontal plane above the conveyor where it is accurately located. A stand-alone robot, programmed to operate with reference to this constant datum position performs the assembly operation associated with that workstation. In order to assist the assembly operation, an air bearing table (17) is incorporated in the lift mechanism to provide the pallet, and any article carried by the pallet, with lateral compliance while held at the datum position.