Abstract: A manipulator is disclosed which includes first and second interconnected limb sections, the second section of which is elongated and flexible in at least one direction normal to the longitudinal axis. The first limb section is connected to a base, and the second limb section is connected to an end effector. Relative to a reference frame with origin at the first limb section, the stiffness matrix of the second limb section is variable, and is under motor control. In one embodiment, the second limb section is inflexible in a direction orthogonal to the one direction and the longitudinal axis, and is supported by the first limb section for rotation about the longitudinal axis. In another embodiment, the second limb section is flexible in all directions normal to the longitudinal axis, and a plurality of adjustable-tension stays attached to the second limb section adjacent opposite ends thereof are used to control the stiffness matrix thereof. Methods of damping vibration of the flexible beam are shown.

Abstract: A robotic hand having a plurality of fingers, each having a plurality of joints pivotally connected one to the other, with actuators connected at one end to an actuating and control mechanism mounted remotely from the hand and at the other end to the joints of the fingers for manipulating the fingers and passing externally of the robot manipulating arm in between the hand and the actuating and control mechanism. The fingers include pulleys to route the actuators within the fingers. Cable tension sensing structure mounted on a portion of the hand are disclosed, as is the covering of the tip of each finger with a resilient and pliable friction enhancing surface.

Abstract: An arrangement for stowing releasable end effectors for manipulator arms wherein the end effector includes a releasable latch mechanism for connecting the end effector to the manipulator arm, and a storage holder is provided which includes an arrangement for actuating the latch mechanism as the end effector is moved into and out of the holder by the action of the manipulator arm.

Abstract: A mobile truck for moving containers and other articles comprising a base, supporting standards at opposite sides of the base, a handle pivotally attached at the upper ends of the standards, a lift supporting member pivotally attached to the handle and to a suitable lifter arm, the lifter arm having attached at one end a lifting device and the other end of the lifter arm being pivotally attached to a connecting bar, with the other end of the connecting bar being pivotally attached to the truck base.

Abstract: Disclosed is a flexible robot arm structure utilizing an elongate skeletal frame member which can be controlled to assume any of a number of curved shapes as in the performance of automated operations. The arm functions somewhat like the body of a snake or an elephant's trunk. The skeletal frame defines a plurality of similar elemental segments disclosed in the form of disc-like structures as well as turns in a helical loading configuration. The helical form includes interleaved flexible helix members interconnected in a chain-link form. Displacement of sections in the arm is accomplished by the action of two separate mechanisms. A deflection mechanism provides power to flex or curve an arm section while a distribution mechanism distributes the curvature along the length of the arm to seek a smooth, circular curve. Illustrative embodiments use hydraulic actuators integral with the frame; however, equivalents are disclosed. The resulting arm is a highly repetitive, mechanical structure.

Abstract: A device for interchanging tools on a mechanical manipulator arm includes a male locking cone unit, a female receptacle cone unit and a motor unit. The male locking cone unit has 3, 6 or 12 equal size balls captured in a male conical cage to extend through its external surface. The female receptacle cone unit that carries a tool includes a dished member having an internal conical surface mating with the external surface of the locking cone, a groove in the conical surface contoured to embrace portions of the balls positioned therein and lands in the groove dividing it into 8 sections of substantially equal length. The lands prevent the balls when in the groove from moving from one of the sections to another. The motor unit, which axially connects via a power take off system with the tool to operate it, is mounted on the female receptacle cone unit.

Abstract: A forest machine with a crane comprises a driver's cab (2) which is mounted on a wheeled chassis (1) and behind which a load carrier (3) is placed, and a crane post (10) mounted in association with the cab and rotatable relative to the chassis and carrying an outer boom (11) having a telescopic boom (16) which is arranged at its free end to carry a working tool (21). The crane post (10) comprises two suitably inclined, spaced-apart support arms (12) between which extends a pivot shaft (13) on which the outer boom is mounted in a position between the support arms. The pivot shaft (13) is located at a distance from the center of rotation of the post (10) exceeding half the distance between a pair of wheels carrying the chassis of the machine. The outer boom is movable through at least 90.degree. between a horizontal and a vertical position, more precisely by means of a hydraulic cylinder (19).

Abstract: The open end of the shaft (10) of the slave arm of a telemanipulator carries two fixed hooks (50) able to encircle two spindles (52) projecting on either side of a toggle joint (16) supporting a gripper (18). Hooks (50) and spindles (52) form a pivot axis, which is displaced from the side of the pivot pin (34) of the gripper with respect to a plane parallel to the pivot axix and containing the longitudinal axis of shaft (10a). On the side of the plane opposite to the hooks (50) and the spindles (52), a latch (54) locks the case (16a) to the end of the shaft, thus, formed coupling device (15).

Abstract: A fully automated tool for holding threaded fasteners during fastener insertion, removal, or transport is described. The device is capable of handling different sized fasteners and can be used with remote manipulator systems or in hand-held operations.

Abstract: A device in an industrial robot permitting rapid exchange of tools in spite of the fact that the tools require both electric and pneumatic operating pulses. The robot hand supports a housing and a tool holder attachment rotatably journalled in the housing, a tool holder being detachably arranged in the tool holder attachment. An automatically breakable electrical connection is provided between the housing and the tool holder by means of slip rings, arranged either on the housing or on the tool holder, and collector shoes, making contact with the slip rings, on the corresponding tool holder or housing.

Abstract: This invention relates to a handling apparatus designed to move on at least two orthogonal axes and, preferably, on three axes, said apparatus being capable of positively gripping spools at their axial bore with great precision and being particularly adapted to be associated with plants designed for automation of the loading and unloading operations of said spools, respectively, into and from wire winding machines and into and from feeding and collecting stations where said spools may be disposed with any orientation.

Abstract: Apparatus for removing plastic sprue slugs from the mold of an injection molding machine including a housing, a swivel arm rotatably mounted in the housing about a horizontal axis, a gripping arm pivotally mounted to the outer end of the swivel arm and having fingers for gripping and removing the slug, a steering rod for pivotting the gripping arm about the swivel arm as the swivel arm rotates about its axis and a cam for controlling movement of the steering rod, the cam, upon rotation of the swivel arm from an upper waiting position to a lower gripping position, causing the fingers to first trace a circular path until they reach a level approximately level with the top of the mold and then a path that extends substantially vertically downward along the front side of the mold until they reach a protruding sprue slug.

Abstract: A robotic arm and control system comprising a multi-axis, open-loop system of coupled structural members, wherein each structural member is pivotably coupled to one another to form a number of joints, wherein position calibration is provided by way of position sensors disposed at each joint, and controls for manipulating each joint in a predetermined manner and for monitoring the output of each position sensor, the controls first causing all structural members to move with respect to one another so that each position sensor outputs a home signal, the controls then manipulating each structural member in a predetermined sequence until each structural member is caused to be within a predetermined distance from its home position.

Abstract: The present invention provides a quick disconnect coupling for a work tool to a machine. The invention in its preferred embodiment provides a coupling having fluid and electrical connections and also providing alignment independent of the locking mechanism. The present invention also is advantageous in that the locking mechanism is protected from the environment when the coupling halves are not mated and also prevents a false lock-up unless the halves of the coupling are mated and aligned.

Abstract: A robotic work positioning system includes programmed, powered robot, and a non-powered arm which is locatable at various positions in three dimensional space by means of the powered robot. A mating interconnection is provided on the non-powered arm whereby the non-powered arm may be accurately engaged and positioned by the powered robot for holding a part or workpiece at an accurately predetermined location. Together with the powered robot, the non-powered arm facilitates the accurate assembly of component parts. One or more non-powered arms can be used to generate three dimensional tooling which can be altered robotically.

Abstract: A device for an automatic interchange and coupling of grippers on robots or manipulating devices includes a mounting member connectable to a robot and a gripper-holding interchanging plate which is formed with recesses receiving locking balls or pins interpositioned between the interchanging plate and an actuation cone of an axially movable piston positioned in the mounting member. The movement of the piston causes the actuation cone to push the locking balls or pins to move radially outwardly into the recesses of the interchanging plate to lock the latter with the mounting member.

Abstract: A variable compliance manipulator comprising a five linkage structure in which one stationary segment and at least four moving segments are connected with one another through joints each having one degree of freedom, and actuators disposed on two or three of the joints and having a variable-stiffness property, wherein the stiffness of motion of the manipulator in working can be adjusted by detecting and delivering the change in angle of the moving segments to a servo system for controlling the actuators.

Abstract: Apparatus for automatically transferring successive fresh bobbins from a magazine wherein the bobbins are stacked in horizontal planes to one of two reciprocable horizontal spindles which are carried by a pivotable holder has annular tongs with claws which are movable into engagement with the periphery of the topmost bobbin in the magazine, and a crank drive which changes the orientation of tongs during transport between the magazine and an unoccupied spindle so that a fresh bobbin which is engaged by the claws in the magazine is moved from its horizontal plane into a vertical plane and its core can receive the unoccupied spindle.

Abstract: A gripper for holding a manufactured part in a X-ray inspection system. The gripper includes a stationary jaw, a slidable jaw, a gripper base, a wear plate, a centering bushing an end plate, and a cam actuated spring mechanism for opening and closing the jaws. Both jaws are removable and adjustable in a keyway. Set screws are used to hold the jaws in place for a predetermined separation and allows a part to be positioned off center. The removable aspect allows for various jaw configurations. The centering bushing includes a cam shaped opening for accepting an end of an pneumatic activated ball plunger of a numerically controlled part manipulator. The centering bushing aligns the gripper to the longitudinal axis of the part manipulator.

Abstract: The present invention relates to a robot comprising a positioning head (7) which is moved to the desired position with the aid of setting devices (1) which can be lengthened or shortened. Each setting device (1) is secured via a first joint (4) in a fixed frame (5), enabling each setting device (1) to pivot freely in relation to the frame. Each setting device (1) is attached via a second joint (6) to the movable positioning head (7). An arm (8) extending from the positioning head (7) is located between the setting devices and extends through the central opening of a universal joint (11) supported by the frame (5). The arm is movable in axial direction in relation to the joint and is controlled thereby in radial direction. It can also be set at different angles to the frame (5).

Abstract: The change head (1) for a tool change apparatus is provided at its free end with a prism-shaped centering opening (15) and in the center thereof an axially displaceable screw driver (3). Arranged concentrically with respect thereto is a screwthreaded sleeve (9) which has a female screwthread and which is mounted slidably but non-rotatably in an axial bore (8) in the head (1) and which is urged towards the centering opening (15) by a spring (14). A respective radially displaceable clamping member (12) is provided in each of two radially extending bores (11) in the screwthreaded sleeve (9), the two radial ends of each clamping member being cones (12a, 12b) (or hemispheres).

Abstract: A device for carrying and adjusting a tool has a frame and a base member which is rotatably connected to the frame about a first axis with a main arm pivotally connected at one end to the base member and at the other end to a lifting-arm holder with a yoke pivotally connected at its central portion to the main arm at some distance from one end thereof. A piston rod part of a first cylinder assembly is pivotally connected to a projection projecting at an angle from the main arm, and its cylinder part is pivotally connected to one arm of the yoke with a piston rod part of a second cylinder assembly pivotally connected to the base member and its cylinder part pivotally connected to the other arm of the yoke and with a link arm parallel to the main arm pivotally connected at one end to the other arm of the yoke and pivotally connected at its other end to the lifting-arm holder.

Abstract: A gripper comprises two supporting coupling members (18) each adapted to be coupled with an exchangeable gripping jaw (20) and clamped together by a coupling plug (26), a transversely displaceable locking member (36) and a spring assembly (60) in the longitudinal direction of the coupling plug (26). The locking member (36) has two opposed surfaces (52,54) for application of external forces by which it is movable into release and locking positions and further includes a wedge surface (40) which cooperates with a limiting surface (32) formed at the coupling plug (26) when the locking member (36) is moved into locking position, tensioning the spring assembly (60). In the operating range of the gripping jaws (20) there is provided a jaw deposit (70) against which both locking members (36) are adapted to be pressed selectively by one each of their two surfaces (52,54) so as to be moved into the release position or into the locking position.

Abstract: An industrial robot having a gimbal-ring type suspension incorporating two axes renders therewith a translatorily movable arm swingable. According to the invention, the translatory movement is achieved in that the gimbal-ring type suspension, which can be swung with the aid of two motors, carries a part in the form of a box-like structure in which a platform provided with a rack can be slidably moved on guides, the platform being driven to translatory motion by a pinion. The platform carries a fourth, a fifth and a sixth motor, of which the fourth motor is able to rotate the arm about its longitudinal axis while the fifth and sixth motor drive their respective drive shafts for swinging the tool holder and rotating the same.

Abstract: The disclosure relates to an industrial robot free from generation of dust, which is provided with and internal space formed by covering rotating portions and contact portions of its arm members, joint members, bearing members or driving source, by the arm members, joint members, bearing members, or a cover member, or by a combination of these members, and air throttling portions provided in air passages for connecting the internal space with external air so as to separate the internal spaced from external air by sucking the air in the internal space. By the above air throttling portions, air within the internal space is isolated from the external air, and thus, scattering of dust from the dust generating portions toward the atmosphere is advantageously prevented.

Abstract: An industrial robot has a base and the mechanical links of a shoulder, arm and hand joined in series with a waist joint, shoulder joint, wrist roll joint and wrist pivot joint. A clutch mechanism is associated with each joint, and continuously spinning shafting extends through all the links and joints. The clutch mechanisms each take power upon electronic command from the shafting to power the joints and move the links relative to each other.

Abstract: An apparatus for changing jaw assemblies 1 on manipulators comprises a support frame having a carriage 24 movable between location blocks 30, 31 for the jaw assemblies. The carriage has an opening 29 to permit passage therethrough of a jaw assembly 1 and to receive a displaceable collar on the arm which encloses a releasable coupling between the jaw assembly and the end of the arm. The coupling is engaged or disengaged upon movement of the carriage on rods 25 relative to the location blocks and on the application of a force on the manipulator arm towards the assembly 1. The coupling may be a T-section slidable in a channel member biassed by a spring into the collar which is slidable on the arm 2.

Abstract: There is provided an angular and positional deviation adjusting mechanism of a robot hand comprising a holder secured to an arm, an eccentricity accommodating member urged against the holder by a first spring, and an angular deviation accommodating member biased toward the eccentricity accommodating member by a second spring, a slide member being interposed between the first spring and eccentricity accommodating member to permit sliding of said eccentricity accommodating member, the contact sections of the angular deviation accommodating member and eccentricity accommodating member being formed such as to permit swinging of the angular deviation accommodating member, the biasing force of the first spring belt set to be lower than the biasing force of the second spring.

Abstract: A hazardous material handling apparatus capable of being remotely controlled so as to allow the operator to safely handle hazardous materials. The apparatus utilizes electric motors in order to provide for three-dimensional movement of the gripper. A television camera and remotely located television monitor may be utilized in order to facilitate remote control of the apparatus. A manually operated gripper is provided to allow for simple and inexpensive construction.

Abstract: A mechanism for positioning on a dock vertical wall a fender including spaced openings, the mechanism comprising a movable support, a first arm pivotally attached to the movable support, a first hydraulic cylinder piston rod assembly for pivoting the first arm, a second arm pivotally attached to the first arm, means for pivoting said second arm, a plurality of spaced projections attached to and extending from the second arm, and pins for releasably securing the projections in the spaced openings in the fender. And a method for positioning on a dock vertical wall fenders including spaced openings opposite an attaching surface, the method comprising the steps of positioning the fender so the spaced openings are accessible, releasably fastening a fender moving mechanism in the openings, locating the fender so the attaching surface is generally vertical, locating the fender on the dock vertical wall, attaching the fender attaching surface to the dock vertical wall, and releasing the fender moving mechanism.

Abstract: A device for the disconnectable coupling of a support toggle joint of a gripper to the end of a slave arm of a remote manipulator. The arm and toggle joint each have a case in which are located means for transmitting movements to the gripper. The coupling device comprises at least two latches pivotably mounted on one of the cases and which are able to occupy a coupling position in which they bear against pins fixed to the other case. This couples the toggle joint to the end of the arm and the latches can also occupy a position in which they are disengaged from the pins in order to disconnect the toggle joint. The retractable locking means normally immobilizes the latches with respect to the case supporting them when the latches occupy the coupling position. The invention also provides a disconnection support for the coupling device.

Abstract: An improved vehicle for working in a forest, of the type comprising a pusher blade movable up and down. This vehicle is improved in that it further comprises a tree gripping unit mounted laterally of the blade at one end thereof, in a position to pick up a tree lying on the ground. An actuator is provided for actuating the tree gripping unit from the cabin of the vehicle.

Abstract: An articulated robot including a vertical rod secured with lockbolts at the end of its arm which is fixed to a screw fastening unit by means of an upper bracket and a lower bracket. The robot further includes a studbolt parallel to the vertical rod at the lower end of the arm. Two nuts are mated with the studbolt to compress the lower bracket. Releasing the lockbolt and rotating the nuts clock-wise or counter-clockwise causes the vertical rod to easily slide to adjust the height of a screw fastening unit from workpieces of different types without having the operator hold the screwing unit by hand.

Abstract: An arrangement in an industrial robot for driving translatory motion of a unit which is mounted in a gimbal-type suspension having two mutually perpendicular axes. A motor with associated resolver is mounted in the pivotable frame of the gimbal-type suspension, the frame being capable of being swung in one direction. The motor drives a pinion which meshes with a rack by a shaft, the shaft also constituting one journal of the machine part in which the translatorily movable machine part is movably arranged. The shaft is rotatably journalled to both the frame and the machine part through each of its bearings.

Abstract: A crimping tool for crimping a locking cap secured to the nut of a new split-pin assembly to the new split-pin to preclude turning of the nut and pin relative to each other. The tool includes a crimping mechanism including crimping jaws having crimping pins face-to-face near one end. The jaws have external cam surfaces. The crimping pins are retracted and brought into crimping engagement with the cap to be crimped by cam followers which traverse the cam surfaces when actuated hydraulically through a C-frame connected to the cam followers. The crimping mechanism is mounted on a support which is moveable by a hydraulic cylinder between a retracted setting, where it is latched generally vertically, and an operating setting where it is positioned generally horizontally. The piston rod of the cylinder has a slotted extension. The slot is engaged by a pin which is connected to the support.

Abstract: A remote control robot vehicle which includes at least two pairs of wheels, at least one pair of which is driven, said pairs of wheels being mounted on a support secured to the vehicle which supports are each mounted for pivotal movement about a generally horizontal axis extending longitudinally of the vehicle, those wheels on the same side of the vehicle being capable of being driven synchronously.

Abstract: An improved sugar cane grab loader has a hydraulically actuated grab and supporting boom, and a mechanical pushpiler. The pushpiler has floating teeth to prevent undue ground penetration during its scraping action. The teeth move in free but limited fashion in a rearwardly inclined direction. The boom lifts the grab from the soil by a controlled height during closing action of the grab around the cane bundled on the ground.

Abstract: The present invention relates to a robotic head that includes a pair of fingers that are adapted to be moved back and forth in parallel relationship between closed and open positions. In addition there is provided a group of interchangeable fingertip sets, with each fingertip set being formed to retrieve and hold a certain size or shaped object. Each fingertip set can be automatically attached and detached from the fingers of the robotic head. In particular, at one single work station, the robotic head through appropriate programming can automatically interchange fingertip sets such that the same robotic head can retrieve and set various types and sizes of elements or parts at one single work station.

Abstract: There is provided by this invention an automated machine tool having a workpiece transfer apparatus that allows the machine tool to automatically load and unload a workpiece during machining. The automated machine tool has the capacity to select a workpiece from a stack of raw material, transfer the workpiece to a machining station, and select a new workpiece from the stack of raw material without human intervention.

Abstract: A mechanical interface for joining a gripper to a robot wrist of the type having a shaft projecting outwardly as the distal member of a robot arm. The interface includes a sleeve having an internal nut or flange for properly locating the sleeve with respect to the shaft. At this location, a bevel gear at the end of the shaft engages a similar gear within the sleeve so that the sleeve is locked to the shaft. The bevel gear within the sleeve is supported by a spring so that outward force from the sleeve allows separation of the gears and disconnection of the coupler from the shaft. Internal fluid passageways within the sleeve allow transmission of fluid pressure from the shaft to a connected gripper for transmitting power, control signals or sensing signals between the robot arm and the gripper.

Abstract: A powered, electromechanical manipulator assembly is disclosed which includes an electrically powered input device coupled by a hydraulic circuit to a mechanical manipulator. The hydraulic circuit is a fixed-volume, closed circuit in which a master piston-cylinder assembly is driven by a D.C. motor and is hydraulically coupled for direct and proportional displacement of a slave piston-cylinder assembly to enable smooth, accurate and easily connected displacement of a manipulator arm. The manipulator arm is formed of a plurality of modules each having a fixed-volume, closed, hydraulic circuit and a slave cylinder. Both the slave and master cylinders includes ambient pressure surfaces which are exposed to the water pressure at the operating depth of the assembly so that variation in depth does not materially affect the response or dexterity of the remote manipulator apparatus. An improved terminal module or jaw assembly is also disclosed.

Abstract: An apparatus for gripping a thin flexible object located within a gripping plane having a transverse axis and a longitudinal axis perpendicular to each other and to a linear axis which is perpendicular to the gripping plane, includes first and second sets of gripper claws for gripping the object. The sets of gripper claws are located on opposite sides of the longitudinal axis and are movable between closed and open positions. Means are provided for restricting the motion of the gripper claws in a direction perpendicular to the longitudinal axis so that the gripper claws are prevented from excessive inward movement toward the longitudinal axis beyond a desired predetermined amount.

Abstract: A hand apparatus of a robot which is less likely to be damaged and can offer a reliable and effective gripping of a workpiece. The hand apparatus comprises a main frame which is mounted to a wrist member through a plurality of damper couplings. Pivotally mounted to the main frame are a pair of four-point-articulated link arms each having two arms extending parallel to each other. A sub-frame having a finger mounted thereon for pivotal movement in every direction is pivotally mounted to the leading end of the respective link arms. A pair of hydraulic cylinders are provided for moving the link arms in a gripping operation.

Abstract: A truck bed bale lift is provided for lifting large round bales of hay onto a flat bed truck. The bale lift assembly includes a pair of hugger arms which grip the hay bale to be manipulated and a mechanism for rotating the hugger arms through a loading/unloading arc. The lift mechanism comprises a rotatable crossbar on which the hugger arms are mounted. The crossbar is pivotally mounted to the rear of the truck and is rotated by a pneudraulic ram mounted underneath the flatbed to engage a series of links attached to the crossbar. The particular linkage system used provides adequate mechanical advantage for the lifting of the hay bale without needing an excessively large equipment structure. The particular structure described permits the flatbed portion of the truck to be kept relatively free of obstruction from portions of the bale lift assembly.

Abstract: A robotic system for handling components such as wire leads is disclosed. The system includes a multi-axis programmable machine, often referred to as a robot, to manipulate a chuck mechanism to acquire components such as a lead wire for example and position this wire in a desired predetermined location. Typical applications include the insertion of wires having a connector pin into a multi-pin connector.

Abstract: A robotic gripper for transporting an object such as a disk-shaped integrated circuit wafer by contacting and gripping only its edge surface. The robotic gripper includes a plurality of elongated fingers which are joined together at a central location from which they project outward in the shape of the letter "X" to their fingertips. Each fingertip may be individually extended outward from or retracted inward to the edge surface of the object to be transported. To adapt the fingertips for grasping the edge of disk-shaped integrated circuit wafers, each fingertip is formed with a projecting lip having a V-shaped notch into which a wafer's edge surface is received while it is being gripped. Each finger includes a bellows through which a cable communicates force from a remote motor to the fingertip. A housing encloses cables and gears used to move the cable.

Abstract: A self relocating manipulator assembly which is movable so as to be secured to any one of a number of fixtures which are spaced from one another on a support structure. The manipulator assembly comprises, a boom which has first and second end effectors each adapted to releasably secured to any one of the fixtures. First and second articulators are provided which serve to mount the first and second end effectors at first and second ends of the boom respectively. The first and second articulators provide a sufficient degree of movement between the end effectors and the boom to allow one end effector to be moved toward and away from one of said fixtures while the other end effector remains mounted on one of said fixtures. A power transmission system is associated with each articulator for articulating the boom with respect to either end effector whereby the manipulator assembly may relocate itself by sequentially securing and releasing one of the end effectors and then the other with respect to said fixtures.

Abstract: In a tool change apparatus for a machine tool, a tool holder receiving means (3) is provided on the machine tool. A tool holder which is provided with a cylindrical portion for engagement of the change arm can be fitted into the tool holder receiving means (3), in the axial direction of the cylindrical portion. A radially extending screwthreaded bore (16) is provided in the cylindrical portion (4a). Provided at the free end of the change arm is a change head (17) which is movable radially with respect to the axis (S) of the cylindrical portion (4a) and which is provided at its outer end that is towards the tool holder (4) with a prism-shaped centering recess (18).

Abstract: A mechanized hitch comprising a telescopic device including a first and a second hollow lever slidable one into the other between a nested position and an extended position, the free end of the first lever being connected to a stationary bracket for pivotal movement of the device in a plane between an upright position wherein the levers are in the nested position and an inclined position wherein the levers are in the extended position. A hook is mounted at the free end of the second lever to allow pivotal movement thereof in a plane perpendicular to the pivot plane of the device between a hooking position in which the hook lies in the pivot plane and a release position in which the hook lies outside the pivot plane, and a jack housed within the telescopic device and pivotally mounted at one of its ends to the bracket while being likewise pivotally mounted at the other of its ends to the hook to pivot the said hook.

Abstract: A robotic manipulator has three linearly extensible arms mounted on a frame in a triangular array and carrying at their remote ends a connector interface coupling the arms to a tool for manipulating parts to be positioned or for other work. The structure is such that the location of the connector is determined solely by the lengths of the arms, while its orientation is determined primarily by controllably rotating the connector with respect to the arms. The decoupling of position and orientation minimizes the computation required to accurately position a tool. In the preferred illustrative embodiment, the rotation is performed by driving motors for the arms which are located at the arm ends adjacent the frame; this minimizes the mass, and thus the inertia, that is located at the connector end, and enables high acceleration and rapid motion of the connector head and its associated tool.