Abstract: The device has primary and secondary frame members interconnected by extensible and retractable positioning members connected by fluid circuits that cause extension of the member at either end of a circuit in response to retraction of the member at the other end of the circuit. Relative movements of the positioning members occur in response to the imposition of forces and moments at the projected center of compliance upon a pin or the like supported by the secondary frame member, and so adjust the position of the secondary frame member as to cause translatory and rotative movement of the supported pin.

Abstract: An elongate main body section of the manipulator has its opposite ends respectively connected to a base section and an object support section. The main body section consists of elongate flexible rod members extending in generally parallel spaced relationship to each other and to the central axis of such section. The lower end portions of the rods are driven by drive mechanisms within the base section to selectively cause the main body section to undergo extension/retraction, bending and/or twisting movement in desired directions. The rod members may be resiliently flexible throughout their entire extent, or may be comprised of rigid sections interconnected by elastomeric joints. In one embodiment the drive mechanisms imparts rotation to the lower end portion of each rod member to produce twisting of the main body section, while in another embodiment axial movement imparted to the rods is reacted by an object support section having relatively moveable components to produce the twisting movement.

Abstract: A tactile sensing system is provided which consists of essentially four components including a touch surface having a plurality of mechanically and electrically isolated sensitive sites, transducer means associated with each of the sensitive sites for converting a mechanical response to an electrical signal, first signal processing means for scanning the signals produced by the transducer means and converting such signals to digital format, and second signal processing means including a computer for interpreting and displaying the data. The system of this invention is capable of providing high contrast, high normal load resolution, moderate spatial resolution and high sensitivity to determine such mechanical contact parameters as presence, pressure, pressure pattern, texture, hardness and topography of an object contacting the touch surface. In addition, separate means are included enabling the system to detect the location, magnitude and direction of shear forces applied to the touch surface.

Abstract: A link-type insertion compliance device is provided to accommodate misalignment between mating parts to be assembled in which a series of aligning links attached to pivot means are concentrically disposed within an envelope mounted to a machine operable to vertically translate one mating part into engagement with another in an assembly operation. Adjustment means is provided in at least one of the pivot means to permit adjustment of the center of compliance of the device to a point at or near the insertion end of a part to be assembled. Parts of varying lengths may thus be accommodated by the subject insertion compliance device with minimal wedging and jamming during the insertion operation.

Abstract: An insertion compliance device is provided by the present invention in which compliance means, acting in cooperation with an intermediate member, permit a pin or other mating part to translate and rotate relative to a corresponding mating part in each and every plane passing through the insertion axis of the pin to avoid binding or jamming of the parts during an automated assembly operation.

Abstract: A link-type insertion compliance device is provided to accommodate misalignment between mating parts to be assembled in which a series of aligning links attached to pivot means are concentrically disposed within an envelope mounted to a machine operable to vertically translate one mating part into engagement with another in an assembly operation. Adjustment means is provided in at least one of the pivot means to permit adjustment of the center of compliance of the device to a point at or near the insertion end of a part to be assembled. Parts of varying lengths may thus be accommodated by the subject insertion compliance device with minimal wedging and jamming during the insertion operation.