Abstract: A non-contact electrostatic liquid dispensing system and method for dispensing continuous, high viscosity viscoelastic nonconductive liquid strands in a controlled manner onto a substrate. An applicator or gun having a charging electrode introduces an electrostatic charge to the high viscosity viscoelastic nonconductive liquid and as charged continuous fibrous strand of high viscosity viscoelastic nonconductive material. One or more electric fields are generated about the discharge path to impart a variety of movements or patterns to the charged continuous fibrous strand of high viscosity viscoelastic nonconductive liquid.

Abstract: Apparatus for dispensing a mixture of two components comprises a dispenser device formed with a first passageway connected to a source of a Component A material, and a second passageway connected to a source of a Component B material, both of which are connected to a static mixer where the components are combined to form a mixture. The dispenser includes structure for purging the mixture of Component A and B from areas of the dispenser which come into contact therewith, and a check valve operative to create a suction within the dispenser and static mixer to prevent leakage of the mixture from the static mixer when flow of the components is interrupted.

Abstract: A two-component mixing and dispensing system for mixing and dispensing two-component polymeric materials which react chemically with one another when combined to form a mixture includes a controller for adjusting the pressure at which at least one of the components is supplied to a dispenser dependent upon variations in the parameters which affect the cure time of the mixture.

Abstract: In an apparatus and method for measuring the strength of an adhesive bond, a dispenser applies adhesive to a substrate for a prescribed period of time, a conveyor moves the substrate to a compressing station within a preselected open time, after which time a compressor compresses the substrate against another substrate to form an adhesive bond therebetween, the bond being formed under a substantially constant compression force and for a preselected compression time. During the latter portion of the compression time, the bonded substrates are moved together at a substantially constant rate of speed through a transition distance, one of the substrates contacting a stop plate at the end of the compression time to prevent further movement while the other of the substrates continues at the substantially costant rate of speed to break the bond.

Abstract: A controller for a manipulator or robot having a plurality of power-driven, signal-controlled links interconnected to permit relative motion therebetween to define plural degrees of freedom. The links of the manipulator are controlled to perform movements corresponding to stored sequences of command positions. The controller stores, for each link, a sequence of command positions and is operable to add a further command position or a further sequence of command positions to the original sequence of command positions. In a non-synchronous mode of operation (where the movements of the robot are not sychronized with movement of the workpiece) or in a synchronous mode, a further command position is added to the end of the original sequence by producing a number of additional command positions and storing the additional command positions after the original sequence. The last of the additional command positions is substantially equal to the further command position.

Abstract: A method and apparatus for real time editing, or modifying, of a program of prerecorded robot motions stored in a robot controlled memory while it is being processed by the controller for subsequent storage of the program, as edited, in memory and output to the robot for execution.

Abstract: A multi-axis robot wrist assembly having three hydraulically operated rotary actuators which are mechanically connected in series such that the output of each actuator drivingly positions the body of the succeeding actuator located outboard thereof. The hydraulic connection to any wrist actuator, except the innermost actuator, includes a series-connection of (a) internal passage(s) through actuator(s) which are located inboard of the actuator in question and (b) external line(s) between the actuator in question and actuator(s) located inboard thereof. By connecting all but the innermost wrist actuator through hydraulic paths which are at least partially internal to actuators positioned inwardly thereof, the overall envelop of the wrist assembly is reduced.

Abstract: A calibration fixture is disclosed for calibrating the link position transducer output signals of a teaching robot and a work robot such that when the links thereof occupy the same identical spatial position and orientation, the magnitudes of the corresponding link position transducer outputs of the work and teaching robots will be the same.