Abstract: A compliancy joint for a robot has six degrees of compliancy freedom and comprises a housing having an inner ring. A float block is movably disposed in the interior of the housing and a plurality of circumferentially arranged pneumatic cylinders on the housing apply force circumferentially to the float block. Sensors are used to detect when the float block is near its compliancy limit and a controller is operatively connected to the sensors and the cylinders for preventing the float block from reaching its compliancy limit. This joint is able to break away from the robot should the robot exceed the device's compliancy limit, preventing damage to the robot and robot end of arm tooling.

Abstract: This invention pertains to an automatic method and apparatus for ascertaining the mass-moment of a blade of a jet engine. It encompasses robotic means to transport the blade from its loading station to the weighing station where its mass-moment is computed via a computer. Afterwards, the blade is returned to the loading station where the cycle begins over again.