Abstract: Disclosed is an industrial robot of the type wherein the robot arm is directly driven by a motor. A position encoder generates a signal representative of the actual position of the arm and a manually controlled position entry switch is operable during a teaching mode. When the arm is manually moved to a desired position, a memory controller responds to the operation of the position entry device by storing the actual position signal in a memory as a target position signal, and reads the stored signal during a playback mode. A servo-control system responds to the actual position signal from the encoder and the target position signal from the memory by controlling the motor so that the actual position of the arm approaches the desired position during the playback mode. The output of the servo-control system is decreased during the teaching mode to render the arm manually movable to the desired position and is increased during the playback mode.

Abstract: A direct drive robot based upon a closed loop parallel link arm with a hand mechanism mounted at the outer end thereof has a prime mover for driving the hand mechanism positioned such that mass and position parameters of a specific equation are satisfied by the parallel link arm, whereby interfering forces which would otherwise act between first and second prime movers driving the parallel link arm are eliminated.

Abstract: An apparatus for mounting electronic components on a printed board substrate comprisesa component feeder for sequentially feeding the electronic components in an aligned row,a chuck which receives and rectifies by pinching the position of the electronic components,a vertically movable mounting head, which holds by air suction one of the electronic components preliminarily pinched and rectified of the position by the chuck, and goes down through a wide open gap of the chuck to mount the electronic component on an accurate position of the substrate.

Abstract: Wire-bonding equipment has jigs which may be secured on a mounting support whereat an electronic or other module may be loaded onto a jig and moved into a correct alignment observable on a television screen, and the jigs are transportable from the mounting support location to a positioning table location whereat successive jigs are automatically moved in a requisite manner to bring successive terminals of modules loaded thereon to a position for bonding of wires thereto by a simultaneously actuated wire-bonder unit, after which successive jigs are transported back to the mounting support to permit unloading of a wired module and loading of a new module. Since the disclosed equipment permits use of ultrasonic bonding means, and requires only simple, easily observable actions by an operator, the equipment is particularly suited to wiring of microelectronic modules.