Abstract: An apparatus and a method for compliant positioning of an object during an assembly operation wherein the apparatus includes a base plate, a locator plate for mounting an object such as a clamp or a tool spaced from the base plate and a plurality of linear actuators connected between the base plate the locator plate by universal joints providing six degrees of freedom of movement. According to the apparatus and the method a control is connected to the actuators for selectively moving the locator plate to a predetermined position relative to the base plate for contacting a component to be assembled with an object mounted on the locator plate. Two or more of the actuators can be mechanically coupled to move the locator plate with less than six degrees of freedom. The control is responsive to a force applied to the locator plate through the object during assembly of the component for actuating the linear actuators to change the applied force.

Abstract: Methods and apparatus for controlling a remote device using a command glove system are disclosed. An apparatus for controlling a device is arranged to be at least partially supported on and operated by a human appendage. The apparatus is further arranged to transmit signals to and receive signals from the device, and includes a positioning assembly mounted on the human appendage. The positioning assembly is arranged to respond to motions of the human appendage, and also transmits position signals that are used to control the device. The apparatus includes a braking assembly which is arranged to resist motion of the positioning assembly, and responds to resistance signals received from the device. The apparatus also includes a sense effecting assembly which transforms haptic signals received from the device into sensations felt by the human appendage.

Abstract: A robot calibration system includes a calibration sensor that provides an indication of when a first reference point that remains fixed relative to a robot base is a fixed distance from a second reference point that is located on the robot arm. The robot arm is moved through a plurality of orientations and each time that the fixed distance between the two reference points is achieved, robot joint position information is determined. The preferred calibration sensor includes a string that extends between the two reference points and activates a signal generator each time that the string is taut as caused by the orientation of the robot arm. The generated signal indicates that the two reference points are separated by the fixed distance. The determined robot joint positions are then used to determine a calibration factor which varies depending on the needs of a particular situation.

Abstract: A robot system including a robot, an operator control center and having a communication system connecting the robot and control center wherein an operator in the control center responds with natural movements to stimulus signals from the robot environment by issuing commands that control the robot. In one embodiment, the operator occupies a command chair with an exoskeletal arm that is secured to the "shoulder" (backrest) of the chair. The operator slides his hand into a glove of the invention attached to the end of the exoskeletal arm. He views the robot environment through a video screen and exerts control in response to views presented on the screen. The communication system sends signals to the operator glove in response to conditions at the robot site prompting the operator to take appropriate action.

Abstract: An apparatus for compliant positioning of an object during an assembly operation wherein the apparatus includes a base plate, a locator plate for mounting an object such as a clamp or a tool spaced from the base plate and a plurality of linear actuators connected between the base plate the locator plate by universal joints providing six degrees of freedom of movement. A control is connected to the actuators for selectively moving the locator plate to a predetermined position relative to the base plate for contacting a component to be assembled with an object mounted on the locator plate. Two or more of the actuators can be mechanically coupled to move the locator plate with less than six degrees of freedom. The control is responsive to a force applied to the locator plate through the object during assembly of the component for actuating the linear actuators to change the applied force.

Abstract: An overload release apparatus for a robot supports a cutting tool such as an abrasive grinding wheel. A force sensor detects an amount of force applied to the cutting tool by a workpiece while a force release mechanism reduces the force applied to the cutting tool. The force release mechanism includes an electromagnet secured within a housing, a follower disposed within the housing which is allowed to move both linearly and angularly, and an elastic element interposed between an upper wall of the housing and the follower. During normal operation, the follower maintains contact with and is supported by a shoulder formed on an inner circumferential wall of the housing by an attractive force of an electromagnet. When a cutting tool, such as an abrasive cutting wheel, engages with an irregularity on a workpiece, an axial force and a moment are applied to the follower causing the follower to move both linearly and angularly inside the housing.

Abstract: In a planetary speed reduction gear or a frictional epicyclic speed reduction gear (10 to 10E) having a simple construction for practical use, a single planet pinion or a planet friction wheel (11, 11a) is driven for eccentric revolution along an internal gear (12) by an input shaft (17, 25), the planet pinion or the planet friction wheel (11, 11a) is interlocked with an output flange (15) by drive pins (18) supported on the output flange (15) and eccentric disks (19) connected to the drive pins (18) and rotatably supported on the planet pinion or the planet friction wheel (11, 11a).

Abstract: A force gage for measuring force and moment between two bodies along orthogonal axes (x,y and z) including a semiconductor substrate carrying on its surface a plurality of piezoresistors supported by a structure attached to the two bodies that transforms the force and moment into deformation components applied in the plane of the substrate surface there enabling the sensors to be fabricated economically en masse using IC manufacturing techniques.

Abstract: A force sensor is disclosed in which strain is measured exclusively by shear strain gages mounted on L or T-shaped legs. Each such leg has at least two arms which are orthogonal to one another. That is, the arms of the L or T each have a lengthwise or longitudinal axis, and two of these longitudinal axes are oriented at approximately 90.degree. with respect to one another. Each leg also has at least two shear strain gages mounted on orthogonal arms to measure forces in orthogonal directions. Three or more of these L or T shaped legs are integrated in a generally cylindrical and hollow body defining the force sensor. The shear strain gage outputs from the arms of this structure are sent to a digital signal processor which determines the magnitude and direction of any force/moment applied to the cylindrical body. Further, the shear strain gages are mounted in pockets sized to hold the strain gages and provide increased sensitivity to shear strain.

Abstract: A planetary type speed reducer provides a large central hole for passing electric and service lines for a robot therethrough. The speed reducer may be used in either a self-motorized or an externally-motorized rotary joint. In a predetermined embodiment, the speed reducer includes a cylindrical carrier and multiple compound gear planets which are rotatably mounted on their respective shafts some of which, in turn, are eccentrically mounted on the carrier. A method for manufacturing the gear planets is also provided. Each of the gears has two sections or parts which are shifted angularly relative to each other and are adapted to engage adjacent fixed output gears of the rotary joint.

Abstract: A method and system are provided for quickly and efficiently transferring a workpiece from a first work station including a first sheet metal press to a second sheet metal press by providing a pendulum-type robot, including an arm assembly mounted on a support structure to swing about a first axis located above and between the first and second presses. The arm assembly not only swings about a first axis but also rotates about a second axis orthogonal to the first axis and a third axis which is orthogonal to the second axis. During swinging movement of the arm assembly about the first axis, rotation of the arm assembly about the second and third axes allows a center of gravity of the workpiece to follow a substantially straight line path between the first and second presses. The arm assembly includes first and second four-bar linkages, which are pivotally connected together to rotate about the second axis. Preferably, a wrist mechanism is provided to permit rotation of the part between the presses.

Abstract: A multi-axis electric spraying robot adapted for use in a hazardous environment includes a base having a first pressurized compartment and an arm assembly having a second pressurized compartment in which compartments electric motors are respectively located. The arm assembly is supported for movement on the base at one end thereof. The arm assembly includes a wrist adapted for connecting the opposite end of the arm assembly with a spraying tool. One electric motor is provided to drive each axis. The compartments are pressurized to prevent flammable gases or vapors from entering the first and second compartments during operation of the robot.

Abstract: A sensor for measuring the amount of a fluid such as electrostatically charged paint in a canister wherein part of the sensor moves within a cavity which is insulated from the paint. A body such as a piston moves linearly within the canister to dispense the paint from the canister. In two embodiments, the sensor is a non-contact sensor including a magnet which moves with the piston and creates a magnetic field in the cavity. A ferromagnetic device of the sensor moves linearly along a sensor element in the cavity in response to movement of the magnetic field created by the moving magnet. In another embodiment, the sensor includes an elongated pliable cable connected at one end thereof to the piston to move therewith. The opposite end of the cable is connected to a sensor element of the sensor such as a rotary encoder. Each sensor provides a signal to allow the metering of the paint entering or/and discharged from the canister.

Abstract: A method and device of achieving motion cycle time reduction that takes motor capabilities, load inertia and gravity into account and, at the same time, produces acceptable tool tip vibration upon stopping. This cycle time reduction is especially applicable to short motions of a robot where the entire motion consists of acceleration and deceleration and there is no constant velocity region. The method and device provide open loop limiting factors for axis jerk, acceleration and velocity, taking into account robot position, payload and inertia.

Abstract: A light weight conventional robot and method for use in connection with the surface preparation of large objects. The robot has a tool attached to an object flange which is supported by a collapsible member, allowing the tool to move to and fro. The member is pivotally mounted to a base so that the tool may be manipulated in all directions. There are at least three independently mountable blocks which allow the robot to be easily adapted to the work envelope without any change to the envelope itself. Tensile members connect the mounting blocks to the object flange to control the movement of the tool. The tensile members may be one continuous non-accumulating member or separate members which respectively allow the robot to move in two or three degrees of freedom, by varying the length of each member.

Abstract: A method and system for transfer of fluids, such as paint, using a fluid canister carried by a transfer device, such as a robot, instead of having paint lines connected to a delivery device, such as a spray gun, carried by the robot. A novel mechanism for initially docking and then filling the canister from a fluid outlet of a pressurized source of fluid without straining the robot is provided. Also, a novel mechanism for cleaning the canister between canister fillings is provided so that paint colors can be changed without loss of productive robot time. In one embodiment, the canister is integrated with the robot. Also, a novel, non-contact sensor is provided for providing a signal to allow the metering of the paint entering or/and discharged from the canister.

Abstract: A motorized rotary joint for robots integrates a joint bearing with a power transmission, such as a planetary type speed reducer, and provides a large central hole for passing electric and service lines therethrough. The rotary joint includes a built-in rotor and stator arrangement within the same joint housing structure, thus allowing the electric motor to share the same bearings and housing structure with the speed reducer. Preferably, the rotor also carries planets of the reducer and the stator is either integral or coupled to a housing of the reducer. The rotary joint also accommodates an encoder, a circuit board having electronic components thereon and a built-in brake to provide a totally integrated, intelligent rotary joint. A method for constructing a modular robot using the rotary joint is also provided, wherein several such rotary joints are coupled to simple structural elements by means of bolted interfaces to construct a multi-joint robot of an articulated structure.

Abstract: A system is provided for the productive utilization of paint in a paint supply line, changing paint colors and cleaning paint lines by inserting and propelling a termination piston or slug having an outer diameter which forms a sliding fit within the supply line to wipe paint off the interior walls of the supply line. Preferably, the supply line is elastic and the termination piston squeegees the paint off the interior walls. A manifold is fitted with various valves to selectively supply pressurized air, solvent and two or more paint colors to the supply line. A process controller controls the timing of the valves of the manifold.

Abstract: Method and system are provided wherein a process robot moves the door of a vehicle to an open position, performs a robotically controlled process within the vehicle and then moves the door back to a closed position. A separate, two-axis programmable arm holds the door in the open position. In particular, the process robot has attached thereto a tool extension whereby the process robot goes in through a window opening of the door of the vehicle, executes a door open path where the door contacts the inner panel of the door and opens the door over a magnetic holder positioned on the two-axis programmable arm below the bottom of the door. The magnet is of sufficient magnetic strength to accurately hold the door at the programmed holding position of the two-axis arm. The process robot then performs a production operation (i.e. painting, priming, sealing, etc.) within the vehicle.

Abstract: A robot-laser system having a minimum number of mirrors for reflecting a laser beam from a fixed laser beam source to a desired location wherein the mirrors are mounted within the hollow, servo-controlled parts of the robot to move therewith. Only a single mirror is mounted within is associated controlled part to reflect the laser beam as it travels between adjacent controlled parts. The robot has a number of degrees of freedom constituted by two orthogonally related linear movements along intersecting longitudinal axes and two orthogonally related rotary joints having intersecting pivotal axes. Preferably, two of the mirrors are mounted so that the laser beam strikes and is reflected from both points of axes intersection within two of the controlled parts. In one of disclosed embodiments a mirror mounted in the base of the robot reflects the laser beam from the source to the other mirrors.