Abstract: A head assembly for a manipulator has, as is known, an inner part, an intermediate part, and an outer part having a holder adapted to carry a tool. An inner pivot and drive unit rotates the inner part on the manipulator about an inner axis defined thereby. An intermediate pivot and drive unit rotates the intermediate part on the inner part about an intermediate axis defined by the inner part and intersecting the inner axis at an intermediate angle not equal to 90.degree. and open away from the inner part. An outer pivot and drive unit rotates the outer part on the intermediate part about an outer axis defined by the intermediate part and intersecting the intermediate axis at a point and at an outer angle not equal to 180.degree. and open away from the intermediate part. The outer drive and pivot unit includes a stepdown transmission in the intermediate part and normally also another such stepdown transmission in the inner part.

Abstract: A brake effective between a rotating part and a non-rotating part has a substantially nondeformable brake disk secured to one of the parts, centered on an axis, and having a pair of axially oppositely directed brake-disk faces. A housing is secured to the other of the parts, at least partially surrounds the brake disk, and has a pair of end walls having wall faces axially confronting the respective disk faces. Respective brake elements are limitedly axially displaceable between the wall faces and the respective disk faces and engageable with the respective disk faces. Formations on the elements and housing prevent the elements from rotating relative to the housing. Spring packs between the brake elements and the respective wall face urge the elements with a substantially constant force axially together into braking engagement with the disk. Seals between the brake elements and housing define a pressurizable chamber between the brake elements.

Abstract: A manipulator drive has a main support defining a main longitudinal axis, a housing rotatable on the main support about the main longitudinal axis, a head defining a head longitudinal axis and rotatable on the housing about an outer transverse axis crossing the main longitudinal axis, and a holder rotatable on the head about the head longitudinal axis. Respective housing, head, and holder stepdown drive transmissions have outputs connected directly to the housing, head, and holder and inputs and have stepdown transmission ratios of at least 70:1.

Abstract: A tool holder for a manipulator comprises a tool shaft extending along and rotatable about a main axis and having a tool-shaft end provided with a pivot defining a transverse axis. A tool is carried on the pivot and is displaceable relative to the tool shaft about the transverse axis. A stack of guide rings coaxially surrounds the tool shaft adjacent the pivot and is formed with at least two throughgoing guide-ring passages each having a radially outwardly opening passage end. Two of the guide rings define a pair of axially spaced annular confronting guide-ring surfaces. A connector ring is rotatable on the stack between the guide-ring surfaces and has a pair of axially oppositely directed connector-ring surfaces one of which axially directly confronts one of the guide-ring surfaces. A connector element secures the connector ring to the tool-shaft end for joint rotation of same about the main axis.

Abstract: A method of positioning a first part such as a rotatable shaft relative to a second part, such as a tubular receiving part comprises placing a defined surface area on one of the parts which is at an elevation distinct from the remaining area of this part surface, mounting a dial gauge having a sensing pin which is displaceable inwardly and outwardly to change the reading of the dial on the other of the parts, and engaging the pin on the surface of the first part while moving the parts relatively so that the needle moves over the surface of the first part, and recording the maximum deflection of the dial as a desired point of adjustment.

Abstract: A pivot drive for interconnecting a pair of members that are relatively pivotal about a pivot axis has a torsion rod extending along a rod axis and rotatable by an appropriate drive relative to one of the members. This rod has outer ends carrying input gears of respective constant-mesh gear trains having output gears at least one of which is limitedly rotatable about the pivot axis on the other member. This one output gear can be limitedly rotated and locked in place in the other member so as torsionally to prestress the rod, thereby eliminating play from the drive by bringing the gears of one of the gear trains into snug contact in one direction and the gears of the other gear train into snug contact in the opposite directions.

Abstract: In a leverage system, a four-member articulated linkage pivoted at one extremity on a support, one linkage member being rigid with a load arm carrying a gripper assembly for holding a tool, is connected via a pair of force-transferring levers to a pneumatic cylinder for counterbalancing gravitational moments. One lever is articulated at one end to a pivot of the four-member linkage and at another end in a toggle link to the piston of the cylinder, while the other lever is pivotally connected at one end to the piston and the toggle lever and at an opposite end to an arm of a bell crank forming a linkage member.

Abstract: A tool positioner has a main support defining a pair of main pivot axes and ncluding a guide. Respective main cranks have inner ends pivoted at the main pivot axes on a support and outer ends pivoted to ends of respective links whose other ends are pivoted on a tool holder. This holder has an elongated stem longitudinally displaceable in the guide and carries a tool which can pivot about the axis of the stem and about another axis perpendicular thereto. The two cranks can be displaced independently of each other for swinging of the tool holder about either of the main pivot axes or for displacing it along the axis of the stem.