Abstract: A plate member carrier is constructed to include a suction device adapted to suck and transfer the workpiece, a first four-bar linkage adapted to keep the suction device in horizontal, a second four-bar linkage adapted to prohibit the suction device from transverse displacement, and a cam adapted to control vertical movement of the suction device subject to a simple harmonic motion curve.

Abstract: A material handling apparatus includes a frame attachable to a front-end loader vehicle. A tine is attached to the frame, and a top clamp arm is pivoted to the frame and extends over the tine. The clamp arm is movable between a closed position where teeth on a forward lower surface extend generally parallel the tine for holding objects on the front portion, and a partially closed position where teeth on the rearward lower surface are located to hold objects on the rear portion of the tine. The rearward lower surface is upwardly angled from the forward lower surface so that the rear teeth do not interfere with holding a primary object on the front teeth even with secondary objects under the rearward lower surface. The clamp arm has a width and defines a space for receiving the tine, thus providing improved clamping ability.

Abstract: When determining coordinates of a point of an object (2) in a reference system of coordinates and the orientation of the object in the space in a measuring position assumed by the object, the object is moved from a start position having known coordinates and a known orientation to a measuring position while detecting this movement. Said coordinates and the orientation of the object in the measuring position are calculated from information from this detection and about the start position. Furthermore, the acceleration and retardation of the object are measured during the movement, and the coordinates and the orientation of the object in the measuring position are calculated from information from this measurement.

Abstract: A grapple skidder for dragging a bundle of logs or trees from one location to a selected site. The grapple skidder comprises a boom and grapple assembly including a grapple suspended from an arched boom arm pivotally mounted to a linear main boom pivotable between forward and rearward inclined positions. A heel is directly mounted on the underside of the main boom to provide an arresting surface against which the butt ends of the trees abut when the boom and grapple assembly is operated to lift a bundle of trees over another bundle of trees lying on the ground. The arresting surface retains the grasped trees against pivotal movement due to gravitational forces, whereby pivotal movement of the main boom in a direction opposite to that which tend to be induced by the gravitational forces results in the trees being completely lifted off the ground.

Abstract: A robot for handling products in a three-dimensional space is described. The robot comprises a base (1) on which three arms (9) are pivotably supported to pivote around three pivote axes (3) arranged in a common axes plane (4). The three axes form a triangle with three corners. Each arm is mounted on a shaft (2) of a servo motor (6). All motors (6) are connected to a controller (8). Three connecting linkages (19) connect the free ends of the arms (9) to a carrier (22) which is movable in space in all three linear dimensions and prevented from rotation around all three rotative dimensions. A telescopic fourth linkage (43) connects a gripper (30) rotatably supported on the carrier (22) by two joints (42, 46) with a fourth serve motor (48) fixed to the base (1). In the axes plane (4) the base has an opening (52) through which the fourth linkage (43) extends. The upper joint (46) of the fourth linkage (43) is on an opposite side of the axes plane (4) than the carrier (22).

Abstract: A device for relative movement of two elements (1, 2) comprises two link arrangement (5, 6) coupled in series by means of a connection arrangement (4). A first link arrangement (5) comprises at least three links (9, 14), which have substantially equal length and which are substantially parallel, said links (9, 14) being oriented in a substantially triangular relation, viewed along the longitudinal direction of the links, between the connection arrangement (4) and the element (2). The second link arrangement (6) comprises at least one parallelogram acting between the connection arrangement (4) and the element (1). First the second force-applying arrangements (17, 18) are adapted to cause the first link arrangement (5) to pivot. A third force-applying arrangement (33) is adapted to cause the second link arrangement (6) to pivot.

Abstract: Improvements to a grapple bucket which combine to convert the grapples into bulldozing, scraping, and hooking implements that can bulldoze, scoop, tear, and demolish more easily than a simple grapple bucket.

Abstract: This mask case is a mask case for accommodating a reticle formed with a pattern to be transferred to a substrate, in which one outer wall face of the mask case is formed with first and second depressions and the form of the first depression is one of conical and triangular pyramidal forms, whereas the second depression has a V-groove form.

Abstract: A grapple (10) for use with a loader (26) and a loader attachment (55) includes a base frame (11) and a pair of swingable arms (12, 13) supporting a grapple tooth assembly (14). A first coupling assembly (22, 23) configured for coupling with the loader (26) is provided on a rear side of the base frame (1). A second coupling assembly (29, 30) configured for coupling with the loader attachment (55) is provided on a front side (31) of the base frame (11). The second coupling assembly (29, 30) corresponds in size and shape to the first coupling assembly (22, 23) such that the grapple (10) can be interposed between the loader (26) and any loader attachment (55) capable of coupling to the loader (26). The grapple tooth assembly (14) is pivotally coupled to the swingable arms (12, 13) using resilient bushings (78, 79) that allow the grapple (10) to twist and conform to uneven loads.

Abstract: A controlled relative motion system comprising a base support, a manipulable support, a group of link end constrainers each having a first portion movably connected to a second portion thereof so that ends of the first and second portions can be selectively separated from one another in a selected direction so as to have a selected distance therebetween, and two groups of pivoting links. With at least four link end constrainers in the group thereof, the first group of pivoting links has corresponding links each rotatably coupled to force imparting means or to the base support so as to be rotatable about a corresponding base link axis where each of said base link axes extend into regions between adjacent ones of said first group of pivoting links into which regions said base link axes of said adjacent ones also extend, and each coupled to a first portion end of a corresponding one of the group of link end constrainers.

Abstract: A modular material shifting device with a base element (1) which includes an energy and drive unit (2), with a superstructure (30) which is disposed so as to be rotatable with regard to the base element (1) by means of a ring mount, including a boom system (50) with gripping or holding tool (59) and a counterweight (40) and with a driver's cab assigned to the superstructure (30).

Abstract: Device comprising two linkage mechanisms each having at least three bars (B11, 21, 51) of which a first and a second bar with the same length extend parallel to each other and are pivotably interconnected by at least a third bar. The two first and two third bars of both mechanisms are pivotably connected at a common main pivot (MP). Hinge point (HP1, HP2) of the first bars lying away from the main pivot are independently movable along linear paths. The device is further provided with a tool (T) comprising the main pivot. The first and second bars of each mechanism are pivotably connected by a fourth bar (B41, 42), lying parallel to and having the same length as the third bar. The fourth bar is rotatable about the hinge point of the first bar.

Abstract: A bearing journal (21), which is introduced into a central opening (22) in the reel (10) and is anchored releasably inside a reel core (11), serves for automatically receiving reels (10). Provided for the connection between the bearing journal (21) and the reel core (11) are clamping webs (23) which are extended laterally and take up a connection with the inner side of the reel core (11) in a non-positive and/or positive-locking manner. The bearing journal (21) is provided with a plurality of mechanical monitoring members which indicate any incorrect position of the bearing journal (21). The movements of the bearing journal (21) are controlled automatically by means of a camera (38).

Abstract: A controlled relative motion system comprising a base support, a manipulable support, a group of link end constrainers each having a first portion movably connected to a second portion thereof so that ends of the first and second portions can be selectively separated from one another in a selected direction so as to have a selected distance therebetween, and two groups of pivoting links. With at least four link end constrainers in the group thereof, the first group of pivoting links has corresponding links each rotatably coupled to force imparting means or to the base support so as to be rotatable about a corresponding base link axis where each of said base link axes extend into regions between adjacent ones of said first group of pivoting links into which regions said base link axes of said adjacent ones also extend, and each coupled to a first portion end of a corresponding one of the group of link end constrainers.

Abstract: A lifting device that simultaneously lifts a plurality of retaining wall blocks initially oriented in a triangular configuration on a pallet and allows them to be easily re-aligned in a linear configuration on a retaining wall. The lifting device comprises two pivoting lateral extending side arms with clamping units attached to their distal ends. Attached to the main planar frame is a central clamping unit. Each clamping unit includes an insert member that inserts into a large, vertically aligned hole formed in the block. When the clamping units are inserted into the hole and activated, three triangular aligned sets of blocks on a pallet may be lifted. The side arms are designed to pivot rearward so that the front surfaces of the blocks are longitudinally aligned and the blocks are positioned in a side-by-side manner. Once properly re-aligned, the lifting device is lowered so that the three blocks are simultaneously placed over the top row of the retaining wall.

Abstract: An attachment for use with a skid loader for lifting and transporting stacks of strapped blocks which includes a frame having an upper and lower horizontal bar, a pair of arms pivotally mounted with the upper bar which are in sliding engagement with the lower bar. A drive member is carried by the frame between the arms for moving the arms between a disengaged and an engaged position. A foot assembly which includes first and second legs and a grabber foot is connected with each of the arms. Each grabber foot includes a planar inner face and is pivotally mounted with a second leg to extend substantially perpendicularly of the associated arm with its inner face canting slightly upwardly and outwardly.

Abstract: An attachment connectable to a boom member of a machine for performing work functions generally consisting of a handle pivotally connectable to a boom member of the machine, a ground engageable arm member pivotally connected to the handle and an extendable strut assembly interconnecting the handle and arm member consisting of a hydraulic cylinder assembly having a cylinder member pivotally connected to the handle and a rod member pivotally connected to the arm member, and including means intercommunicating the base and rod ends of the cylinder member, at least one electrically operable valve disposed in the intercommunicating means and operatively connectable to control means disposed on the machine, selectively operable to open the valve and permit the free flow of fluid between the base and rod ends of the cylinder member, and correspondingly the angular displacement of the arm member relative to the handle upon maneuvering the arm member by an operator of the machine, and to close and preclude the free flo

Abstract: A method provides an exact measurement of the tool center point (TCP) being carried out, preferably in the whole working area of the robot. In this measurement, the robot moves very slowly so that little heat is generated by the driving assemblies and the temperature gradients are as low as possible. The measurement can be made, for example, using a high-precision laser distance and angle measurement system. The measurement is carried out such that a measuring point is moved to working area points and then the deviations of the positions and/or orientations of the measuring point are determined using the laser distance and angle measurement system, i.e. a nominal/actual comparison is made. The TCP can preferably serve as the measuring point. The point must always be selected so that the positioning and orientation deviations of the kinematic chain with respect to the PCT can be determined with sufficient accuracy.

Abstract: An end-effector comprises a circulating scoop that cooperates with a plate that lies in its arcuate path. The plate spans the arcuate gap present within the scoop and preferably may be contained within that gap. The plate may be positioned to provide a bucket-like cavity facing in either fore or aft directions. The scoop and/or plate can carry indentations whereby they grasp shaped articles for controlled manipulation.

Abstract: A manipulator comprising a foot part and a number of members connected to the foot part and to each other respectively, and at least a gripper part, such that the members and the gripper constitute, with the foot part, an arm, wherein drive means, in particular motors for moving at least a number of the members and the gripper are provided in the foot part.

Abstract: An apparatus for grasping odd-shaped objects to relocate the same includes an upright main frame being attachable to a material handling vehicle for maneuvering the main frame between different heights and locations by operation of the material handling vehicle, a support member mounted at a lower end of the main frame and being adapted to engage an edge of an object, an arm member mounted at an upper end of the main frame so as to undergo pivotal movement relative to the main frame, a tine mounting member mounted to the arm member so as to undergo pivotal movement relative to and independently of the arm member, a pair of tines each having a substantially curved configuration and being mounted to and extending outwardly and downwardly from the tine mounting member, and main and auxiliary actuation mechanisms for respectively pivotally moving the arm member relative to the main frame and the tines relative to the arm member through respective first and second arcuate paths toward and away from the support mem

Abstract: A device for coupling a load/lifting tool (3) to a crane (1) or other lifting equipment of the type used in heavy lift operations in which the load (4) must be controlled in such a manner that conventional hook, chain/wire tools can not be used, and where the device for coupling up the load/lifting tool (3) is constituted by a rapid coupling (2).

Abstract: A group of bolts are suppled into a placing surface of a tray, an isolated bolt is searched for by a visual sensor, and its deviation from a standard position at the time of teaching is determined. The isolated bolt is picked up by a robot that has been taught how to pick up an isolated bolt laying in a standard position. The position of the robot's hand is corrected according to the deviation from the standard position before the robot attempts to pick up the located isolated bolt. If no isolated bolt is found, a shaking device 1 is operated to loosen the piled-up bolts, and a new isolated bolt is again searched for by the visual sensor. The isolated bolt, if found, is picked up. The picking-up operation may be performed by searching for an isolated small set of bolts using a three-dimensional visual sensor. The oscillating excitation can also be provided by a robot.

Abstract: A system and method for controlling a robot (1), includes at least three setting devices (2, 3, 4) which can be extended or shortened in the longitudinal direction. Each setting device being directly or indirectly secured in a fixed frame (6) via a first joint (20, 30, 40) so that each setting device is pivotable in all directions in relation to the frame and that each setting device is attached at one end in a movable position head (8) via a second joint (21, 31, 41). Each sensor is provided with a length sensor (LS1, LS2, LS3), said sensors forming a part of control system (S1) for controlling the location (X, Y, Z), wherein the control system cooperates with a feedback control system (R2) arranged to correct the location (X, Y, Z) and feedback control system (R2) operate in accordance with different coordinate systems.

Abstract: Robotically drivable interface mechanism for coupling to a device and for coupling to an end effector attachable to the end of a robot arm. The interface mechanism having a first coupler to couple with an associated second coupler on the device and a third coupler to couple with an associate fourth coupler on the end effector. The first coupler is connectable to an actuator included in the end effector, when the interface mechanism is coupled to the end effector. The first coupler has at least one first roller for cooperating with the second coupler formed by at least one slot in the device.

Abstract: In a holding device for a surgical instrument comprising a holder for the instrument, in order to enable pivotal movement of the instrument while avoiding simultaneous translational movement, it is proposed that the holder be held by at least two guide rods on a frame, the guide rods being rotably connected to the frame and to the holder, the bearing points of the guide rods on the holder being arranged in spaced relation to one another, and the spacing of the bearing points on the frame being greater than the spacing of the bearing points on the holder.

Abstract: The precision grapple—which is removably attachable to a vehicle which has implement fittings to which civil engineering implements are removably attachable—has a forwardly converging, low walled lifting bed so that oddly shaped objects—such as rocks and boulders—can be moved, held, and carried by the grapple, has a forwardly converging tongue which is removably attachable to the lifting bed to extend the lifting bed, and has a prong with two arms spaced to clear a tall object—such as a balled tree—held on the lifting bed by the prong.

Abstract: Pick-up and placement apparatus including an arm that executes pick-up and placement motions and a drive mechanism that drives said arm. The drive mechanism comprising a rotating member normally or reversely driven and rotated in an appointed range of rotation, a swiveling member slidably attached to the rotating member in the radial direction and normally or reversely swiveling in an appointed range of rotation by normal and reverse rotations of the rotating member, being provided with a connection portion directly or indirectly linked with the arm, a retaining means applying a retaining forces to retain the swiveling member at an appointed position in the radial direction with respect to the rotating member while slidably retaining the swiveling member, and a means for regulating and guiding said connection portion to linearly move the connection portion by directly or indirectly regulating the swiveling member in the vicinity of both ends of in the range of rotation.

Abstract: The present invention provides a method and apparatus for controlling a work implement in order to enable an earth moving machine to move to a service area after a failure within an implement control system occurs. The method includes the steps of detecting the failure of the implement control system, enabling a limp home mode in response to the failure, and controlling the implement into a limp home position through operator interaction using a display and either an associated keypad or a touch screen.

Abstract: An apparatus for preventing the over-tilt of a gripper assembly in a cassette loading device is described. The apparatus provides an additional sensor arm system rigidly mounted to the gripper assembly such that the additional sensor arm not only provides a method for it to reach an over-tilt position, but also provides a mechanical stop to manually stop the gripper assembly from making further motion beyond the maximum downward-tilt position of the arm. The apparatus may further be provided with a warning system and a manual override device such that a machine operator may be alerted of the over-tilt condition and further, may manually override the sensor system by temporarily restoring power to the gripper assembly and returning it to a safe position.

Abstract: A machine tool center (10) displays at least one machine tool (11, 12, 13) which has a working area (17) accessible through an operator door (16) to process workpieces (21). Furthermore, a loading/unloading station (14) for the workpieces (21) and a loading device (22) which transports the workpieces (21) between the loading/unloading station (14) and the respective machine tool (11, 12, 13) and changes these at the machine tool (11, 12, 13) are also provided. In the new machine tool center (10) the loading device (22) is arranged below the working space (17) of the machine tool (11, 12, 13) (FIG. 1).

Abstract: A tree harvester provided with a rotatable worktable assembly is disclosed herein. The tree harvester includes a movable frame, a worktable assembly rotatably mounted to the movable frame and an upper frame rotatably mounted to the worktable assembly. The upper frame is provided with an articulated boom that includes a feller/grapple head. The worktable assembly includes a tree delimbing mechanism, a tree cutting mechanism and a log stacker. The operation of the worktable is advantageously automated so that the operator can use the boom while the worktable is processing a tree. The position of the worktable between the movable frame and the upper frame makes the tree harvester more compact than conventional tree harvester, while the independent rotation of the worktable assembly and of the upper frame with respect to the movable frame increases the flexibility of operation of the tree harvester.

Abstract: An attachment connectable to a boom member of a machine for performing work functions generally consisting of a handle pivotally connectable to a boom member of the machine, a ground engageable arm member pivotally connected to the handle and an extendable strut assembly interconnecting the handle and arm member consisting of a hydraulic cylinder assembly having a cylinder member pivotally connected to the handle and a rod member pivotally connected to the arm member, and including means intercommunicating the base and rod ends of the cylinder member, at least one electrically operable valve disposed in the intercommunicating means and operatively connectable to control means disposed on the machine, selectively operable to open the valve and permit the free flow of fluid between the base and rod ends of the cylinder member, and correspondingly the angular displacement of the arm member relative to the handle upon maneuvering the arm member by an operator of the machine, and to close and preclude the free flo

Abstract: A robot especially adapted for use in hazardous environments, and particularly adapted for explosives disposal, includes a wheeled platform carrying a winder mechanism which ensures that the remote control cable will not be fouled by the robot or its attachments. Coaxial with the winder mechanism is a turret mechanism that can rotate indefinitely and which carries thereon a manipulator arm section which, includes a first arm pivotable through about 110.degree. and which carries thereon a second arm which is pivotable through about 120.degree. and carries a bulkhead to which any of a plurality of end effectors can be connected by way of a quick connect and disconnect mechanism. The end effectors include a set of links having different lengths, one or two extension links, a wrist and gripper mechanism, an aiming and disruptor mechanism, and a relocatable surveillance camera.

Abstract: An apparatus for grasping odd-shaped objects to relocate the same includes an upright main frame being attachable to a material handling vehicle for maneuvering the main frame between different heights and locations by operation of the material handling vehicle, a support member mounted at a lower end of the main frame and being adapted to engage an edge of an object, an arm member mounted at an upper end of the main frame so as to undergo pivotal movement relative to the main frame, a tine mounting member mounted to the arm member so as to undergo pivotal movement relative to and independently of the arm member, a pair of tines each having a substantially curved configuration and being mounted to and extending outwardly and downwardly from the tine mounting member, and main and auxiliary actuation mechanisms for respectively pivotally moving the arm member relative to the main frame and the tines relative to the arm member through respective first and second arcuate paths toward and away from the support mem

Abstract: A method for avoiding scratching of wafer backs being held by a vacuum to a fetch arm of a stepper machine for insertion into a cassette holder includes releasing the vacuum in the suction head of the fetch are before the wafer enters the cassette holder. The release of vacuum reduces frictional force between the wafer back and the suction head when the wafer accidentally hits the side of the cassette holder. Therefore, the vacuum release method avoids scratching of wafer backs by the suction head of the fetch arm. The invention requires a separate vacuum release controller to release the vacuum in the suction head for a prescribed delaying period after the fetch arm starts moving toward the cassette holder.

Abstract: The present invention generally provides a robot that can transfer a workpiece, such as a silicon wafer, at increased speeds and accelerations/decelerations. More particularly, the present invention provides a robot wrist for mechanically clamping a workpiece to a workpiece handling member of an extendable robot arm. The wafer clamp selectively applies sufficient force to center the workpiece and prevent slippage and damage to the workpiece during rapid rotation and radial movement of the handling member. In one embodiment, a clamp for securing silicon wafers uses two independent clamp fingers to position and hold the wafer with minimal particle generation and wafer damage. The clamp is designed so that wafers are normally clamped except during full extension of the wafer handling member to deliver or pickup a wafer.

Abstract: A disc-handling apparatus for supporting a magnetic disc during material deposition and for transporting the disc into and out of a deposition station is described. The apparatus has a holder that supports a disc at three contact points by a support and a pair of arms, such that the disc is positively gripped by at least three contact points.

Abstract: A disk gripper featuring a spindle fitting through the central hole of a disk, with the spindle harboring a movable latch which is a pin carried by a movable arm. An actuator shifts the latch out of the spindle once the spindle has entered a disk hole with the latch causing the disk to slide laterally into a curled finger which provides a protective, non-contacting envelope. The disk is held in place on the shoulder of a bulbous portion of the spindle which keeps the disk on the shoulder of the spindle. The actuator is activated by a floating sensor ring carried by the spindle. When the spindle passes through a disk hole, the sensor ring moves upwardly, resting on the disk sending an upright tripper into an optical detector causing the latch to retract and allowing the spindle to pass into the disk hole. After passage into the disk hole the latch is released, causing lateral disk motion, causing the disk to laterally slide into a securely held position.

Abstract: An apparatus and method for aligning an end effector that is attached to a robotic arm of a disk certification system. The end effector includes a disk paddle that is pivotally connected to an end effector housing. The end effector housing has a center opening that can receive a gripper subassembly. The disk paddle grabs a disk which has a center opening. The disk paddle is aligned by placing the end effector onto an alignment plate so that a center alignment pin of the plate is inserted into the center opening of the housing, and an outer alignment pin is inserted into the center opening of the disk. The end effector has an adjustment screw that can be adjusted to vary the position of the disk paddle so that the outer alignment pin is accurately positioned within the disk center opening. After alignment the end effector can be attached to the robotic arm.

Abstract: A retractable thumb for a bucket is provided including a bucket assembly which has a bucket arm with an inboard portion and an outboard portion. Next provided is a thumb including an inboard edge pivotally coupled to the outboard portion of the bucket arm. A hydraulic assembly includes a first hydraulic arm for moving the bucket and a second hydraulic arm for moving the thumb. Finally, a recess is formed in the outboard portion of the bucket arm for accepting the thumb therein for storage purposes.

Abstract: An apparatus and method for aligning an end effector that is attached to a robotic arm of a disk certification system. The end effector includes a disk paddle that is pivotally connected to an end effector housing. The end effector housing has a center opening that can receive a gripper subassembly. The disk paddle grabs a disk which has a center opening. The disk paddle is aligned by placing the end effector onto an alignment plate so that a center alignment pin of the plate is inserted into the center opening of the housing, and an outer alignment pin is inserted into the center opening of the disk. The end effector has an adjustment screw that can be adjusted to vary the position of the disk paddle so that the outer alignment pin is accurately positioned within the disk center opening. After alignment the end effector can be attached to the robotic arm.

Abstract: An improved gripping arm assembly including a two-piece gripper arm body construction which includes an arm clamp having alignment pins, and an arm main body with corresponding alignment holes for receiving the clamp pins, and a means for securably attaching the main body with the clamp. This two-piece gripper arm construction is simpler to remove than one-piece standard gripper arms. To replace a broken gripper arm with a new gripper arm only requires unscrewing fasteners holding the two-piece old gripper arm together allowing detachment of the broken gripper arm from the shaft, and clamping the two pieces of the new gripper arm together around the shafts and securing the screws and re-clipping an operating rod. The two-piece construction eliminates the need to remove a shaft from the machine or other gripper arms from the shaft when repairing or replacing one gripper arm or replacing or repairing a shaft having gripper arms mounted thereto.

Abstract: A robot wrist for the working hand of a robot has a connection element for connection to a robot arm along the main axis thereof, and a toolholder hinged to the connection element which has tool receiver axis and which can turn about a second axis normal to the main axis. One portion of the tool holder can pivot about a third axis parallel with the tool receiver axis and in the stretched position of the wrist in parallel with the main axis. The distances between the third axis and the tool receiver axis and between the third axis and the main axis are equal.

Abstract: A manipulator system includes an elongated mast having a mast axis and a telescoping tube assembly having a tube axis. The telescoping tube assembly includes an outer tube section and at least one inner tube section that only moves telescopically with respect to the outer tube section. The telescoping tube assembly is joined to an end of the elongated mast for only pivotal movement. An actuator joined to the elongated mast and the outer tube section pivots the telescoping tube assembly from a first position, wherein the tube axis is parallel to the mast axis and the telescoping tube assembly is retracted, to a second position, wherein the tube axis is perpendicular to the mast axis and the inner tube section is deployable. An end effector is joined to a remote end of the inner tube section to perform work within the tank.

Abstract: A spatial parallel-architecture robotic Carpal wrist is shown. The structure of the robotic Carpal wrist allows for the application of a closed-form solution to the kinematic problem of determining all of the possible inputs to the actuators that result in a desired end orientation of the distal plate. The robotic Carpal wrist has a structure including a base plate, a distal plate and six equal length links connecting the base plate to the distal plate with the six links being arranged in three chains of two links each and with three actuators being mounted in fixed relationship to the base plate. The three actuators cause the three links connected to the base plate to each pivot with a single degree-of-freedom relative to the base plate. Each of the three chains of links includes a three degree-of-freedom joint between its two links.

Abstract: A system including a specifically-shaped probe and a complementarily-shaped hole formed in a surface of a part to be picked up ensures proper alignment between an end effector which picks up the part and the part itself. The probe includes first, second, third and fourth mutually converging locating surfaces terminating at a rounded tip at a free end of the probe. The probe is preferably diamond-shaped in cross-section along its entire length and the hole, consequently, is also diamond-shaped. The hole is defined by an inner peripheral diamond-shaped surface configured to be immediately adjacent and substantially parallel to each of the locating surfaces only when the end effector is in a proper pick up position and orientation with respect to the part. Preferably, the end effector is a gripper wherein the probe is adapted to be secured between gripping jaws of the gripper. In the preferred embodiment, the part comprises dunnage.

Abstract: A four degree of freedom manipulator which comprises a pair of elongate rigid legs connected by a joint. The joint acts as an end-effector or an end-effector is attached thereto, The legs effectively intersect at a point in the joint. The positioning end of each leg is attached to a two degree of freedom positioning mechanism that can position it in a two dimensional plane. The connection between the leg and the positioning mechanism has two passive rotational degrees of freedom. Preferably five bar mechanisms are used as the positioning mechanisms. The manipulator can control the position and orientation of an end-effector.

Abstract: A first motor is fitted to a threaded shaft onto which first and second nuts are screwed, a first holder to which a second motor for rotating the first nut is fixed is fitted to the shaft, the first holder is provided with a first bracket to which one ends of first and second connecting rods are rotatably connected, a second bracket is rotatably connected to ends of the first and second connecting rods opposite to the end where the first bracket is installed so that the first and second connecting rods are put in parallel positions, a second holder is secured to the second nut, the first holder and the second holder engage with a guide rail installed in parallel with the first shaft so as to be moved along the guide rail when the first shaft rotates, the second holder is provided with a third bracket, one end of a third connecting rod is rotatably connected to the third bracket, and central part of the second connecting rod is rotatably connected to an end of the third connecting rod opposite to the end where

Abstract: A work piece support device features two pincer members which can be moved toward and away from each other and which can be varied in length in manner to accommodate different shaped work pieces. The device is mounted on a manipulator which selectively displace the same in three mutually opposed directions. Location and locking probes can be used in combination with the support device to locate and/or lock the work piece in place.