Abstract: A control device that controls grip of an object is disclosed. The control device includes: detecting means for detecting a slip of the object and outputting a slip detection value; change-value calculating means for calculating, on the basis of the slip detection value, a change value for changing a command value, which sets gripping force for the object, to magnitude for resting the object; suppression-value calculating means for calculating, on the basis of the slip detection value, a suppression value for suppressing the command value to necessary minimum magnitude for resting the object; and setting means for setting the magnitude of the command value on the basis of the change value and the suppression value.

Abstract: A Sensor glove is an instrument, in the same way that a piano is an instrument. The Sensor glove is purchased and the owner then learns to use it and the sensors therein to develop the performance of a sound, character or model, or to “conduct” or “play” the sensor movements and experience the response of the model in real time. Several performers with a number of the Sensor glove can control over 200 motors or hundreds of control points on a character at one time, manipulate audio data, or computer images etc. The characteristics of the sensors on the gloves can be adjusted to the needs and demands of the wearer or the many performer and wearers in those venues where multiple performers are used with many gloves to control or produce the motions and sounds of many distinct characters in a screen play.

Abstract: The invention provides an overload safety apparatus for a robot hand in which a safety apparatus for an overload is simplified in structure, and which is reduced in size, weight and cost by a method of magnetically attracting a robot hand and supporting the same by a shaft, so that an effective function for the overload in the lateral direction, vertical direction or fore-and-aft direction exerted to the robot hand is achieved.

Abstract: A vertical rapid thermal processing system includes a processing chamber and an elevator structure providing for vertical movement of a workpiece within the processing chamber. The elevator structure includes a workpiece support for supporting the workpiece and an elevator shaft coupled to the workpiece support and extending externally from the processing chamber. An end portion of the elevator shaft, external to the processing chamber, has a selected magnetic polarity. The elevator structure also includes moveable carriage coupled to the shaft to provide vertical movement of the workpiece within the processing chamber. The carriage includes a shaft support having the selected polarity. The shaft support is positioned adjacent the polarized end portion of the elevator shaft such that repulsive magnetic forces maintain a gap between the end portion of the elevator shaft and the shaft support as the shaft support and elevator shaft move vertically along a path of travel.

Abstract: A linear motion apparatus for moving an object in a vacuum chamber comprising an antenna or a telescoping shaft such as a fishing rod to effectively utilize space, and to avoid the need of a rear projection thereby achieving stability.

Abstract: A method based on precision X-Y stages that are stacked. Attached to arms projecting from each X-Y stage are a set of two axis gimbals. Attached to the gimbals is a rod, which provides motion along the axis of the rod and rotation around its axis. A dual-planar apparatus that provides six degrees of freedom of motion precise to within microns of motion. Precision linear stages along with precision linear motors, encoders, and controls provide a robotics system. The motors can be remotized by incorporating a set of bellows on the motors and can be connected through a computer controller that will allow one to be a master and the other one to be a slave. Position information from the master can be used to control the slave. Forces of interaction of the slave with its environment can be reflected back to the motor control of the master to provide a sense of force sensed by the slave.

Abstract: An apparatus based on precision X-Y stages that are stacked. Attached to arms projecting from each X-Y stage are a set of two axis gimbals. Attached to the gimbals is a rod, which provides motion along the axis of the rod and rotation around its axis. A dual-planar apparatus that provides six degrees of freedom of motion precise to within microns of motion. Precision linear stages along with precision linear motors, encoders, and controls provide a robotics system. The motors can be positioned in a remote location by incorporating a set of bellows on the motors and can be connected through a computer controller that will allow one to be a master and the other one to be a slave. Position information from the master can be used to control the slave. Forces of interaction of the slave with its environment can be reflected back to the motor control of the master to provide a sense of force sensed by the slave.

Abstract: A conveyor is of a low power consumption type and has a decreased amount of gas generation. The conveyor is provided with a floating member having a conveying rod on which a workpiece is laid; a conveying body magnetically coupled with the floating member through a sleeve-like partition wall; sensor portions for detecting positions of the floating member; electromagnets for generating magnetic forces for supporting the floating member; targets provided on the floating member so as to face the electromagnets; and an adjusting unit for taking a balance of forces to be applied to the magnetic support portions composed of the electromagnets, the targets and the sensor portions. With thus constructed conveyor, even if the conveying article load (i.e., workpiece weight) is changed, a space between the floating member and the sensor portions may be adjusted within a controllable range with a small amount, of excited magnetic current by the adjusting unit.

Abstract: A device for positioning objects within a sealed vacuum chamber (112) comprises a stationay housing (114), which is sealingly attached to the vacuum chamber (112). Located within the housing (114) is a tubular body (158) capable of rotating and translating within the stationary housing (114) through the interaction of an outer magnet (116), which slides and rotates on the surface of the stationary housing, and an inner magnet (118), which is attached to the tubular body (158). A shaft (198) is located inside the tubular body, but cannot be shifted axially with respect to this body. The front end of shaft (198) extends into the vacuum chamber (112) and may carry a specimen or any other object to be treated or tested in the vacuum chamber. The shaft (198) is driven from an external drive mechanism (124). Rotation of the shaft can be converted into opening and closing movements of the jaws (218 and 220).

Abstract: A precision magnetic manipulator for use in positioning targets, and the like, within a vacuum chamber, employs separate mechanisms for linear and rotational motion and makes them substantially independent. Ball or roller style bearings support a square, linear shaft within a housing, at least one set of bearings being at the point at which the shaft exits the housing, and another set being within the housing along the route of travel of the linear shaft, so that the shaft is fully being supported over the entire travel length. A magnet carriage supporting high-strength magnets, one system being optimized for rotational motion and the other being optimized for linear motion, couples to magnet followers within the housing, thereby providing rotational motion and linear motion which can be used in combination or separately, giving great freedom of movement within the vacuum chamber.

Abstract: A sample transfer device (110) for manipulating a sample in a sealed vacuum chamber comprises a tubular housing (112) made from magnetically permeable material. The housing has one end (114) closed and another attached to the vacuum chamber. Located inside the housing is a shaft (116) which is connected to a sample holder. One end of this shaft is connected to a hollow body (140) which is made from a magnetically-permeable and air-tight material. This hollow body (140) forms a sealed cavity which contains an inner permanent magnet (142). The magnet (142) is held in place by two cup-shaped members (152 and 154) and two aluminum blocks (156 and 158). The inner magnet (142) interacts with an outer permanent magnet (166) which slides over the surface of cylindrical housing (112) and moves, through magnetic force, the inner magnet and hence the shaft (116) and the sample holder with the sample in the axial direction of the housing, i.e., into a required position in the vacuum chamber.

Abstract: A manipulator for handling objects within a sealed environment, such as an ultra-high vacuum chamber, is mounted on a port of the chamber so that an active portion of the manipulator terminating in a set of gripping jaws is located within the chamber, while an operating portion of the manipulator is located externally of the chamber. The gripping jaws are mounted at one extremity of a shaft for rotation through at least 360.degree. irrespective of whether they are in an open or closed configuration. The jaws are opened and closed from the exterior of the chamber by means of a sleeve which is axially slidable on the shaft by means of a drive ring located on the operating portion of the manipulator.

Abstract: A robotic arm positionable within a nuclear vessel by access through a small diameter opening and having a mounting tube supported within the vessel and mounting a plurality of arm sections for movement lengthwise of the mounting tube as well as for movement out of a window provided in the wall of the mounting tube. An end effector, such as a grinding head or welding element, at an operating end of the robotic arm, can be located and operated within the nuclear vessel through movement derived from six different axes of motion provided by mounting and drive connections between arm sections of the robotic arm. The movements are achieved by operation of remotely-controllable servo motors, all of which are mounted at a control end of the robotic arm to be outside the nuclear vessel.

Abstract: A sample transfer device (10) for manipulating a sample (S) in a pair of sealed vacuum chambers (18, 102) comprises a tubular housing (12) made from a magnetically permeable material. The housing has one closed end (14) and another flanged open end (16) for attachment to the vacuum chamber. Located inside the housing is shaft (40) of a square cross section. One end of the shaft is rotatingly connected to an inner permanent magnet (66) which can rotate with respect to the shaft but moves axially together therewith. The other end of the shaft protrudes from the housing into the vacuum chamber (110). The shaft is supported inside the housing by a bevel gear (32) which rotates in a bearing (20) in the housing. The bevel gear (32) has a square opening (38) which guides the above-mentioned square shaft during its axial movements. The gear (32) engages another gear (98) which is attached to an output shaft of a rotary drive unit (80) having its drive element outside the housing.

Abstract: A sanitary pressure relief device which includes a rigid sleeve having an annular resilient collar secured to one end thereof, as by a ring clamp. This resilient collar is adapted to be clampingly and sealingly engaged around the end of a cleanout fitting, as by a further ring clamp. An elongated resilient glove is clampingly and sealingly engaged to the other end of the sleeve, as by a further ring clamp, which glove permits removal of a screw plug from the cleanout fitting. The sleeve has a discharge opening formed in the sidewall thereof, and a length of hose is connected to this discharge opening. A suitable valve or clamp is associated with the hose for opening and closing same, to permit the controlled discharge of liquid from a drain pipe.