Abstract: The invention provides an apparatus for detachably connecting a tool to a manipulating device, e.g. an industrial robot. The apparatus includes a tool holder and a coupling member fastened to the robot. The coupling member has a free frontal surface on which the tool holder rests. A plurality of air channels and electric contacts merge into the free frontal surface in a peripheral region thereof. Four projecting centering pins are provided in the center of the free frontal surface. The tool holder is provided with correspondingly located air channels and electric contacts as well as with a centrally arranged centering disc which is rigid in circumferential direction and axially resilient. The disc has apertures in which the centering pins enter when the tool holder is fixed to the coupling member. Thus, the tool holder is precisely centered and all pneumatic and electric connections are automatically established.

Abstract: An apparatus for setting an industrial robot at the standard position comprises a block (19) to be measured, which is attached to a top end portion (18) of a wrist of the industrial robot, and a supporting member (23) for the measurement, which is attached to a fixing base (11) of the industrial robot. The block has three planes (20, 21, 22), orthogonal to one another, to be measured, and the block is positioned to the top end portion of the wrist so that the three planes to be measured are set at predetermined positions relative to the top end portion of the wrist. The supporting member has three frames (24, 25, 26) orthogonal to one another, and the supporting member is positioned relative to the fixing base so that the three frames take predetermined positions relative to three-axis orthogonal coordinates predetermined on the basis of the fixing base. By a plurality of dial gauges (27 through 32; 37 through 42), the positions of the planes of the block are measured.

Abstract: The present invention provides for precision micropositioning of a robotic structure. The micropositioning system includes a number of angular encoders indicating the angular orientations of various robotic elements with respect to one another and optical devices measuring the actual deflection of load bearing arm portions of the robotic structure. A separate optical device may be attached to each load bearing arm of the robotic structure. The optical device includes a target to be disposed at one end of the load bearing arms and an optical detecting system to be disposed at opposing ends of the load bearing arms. The target includes a plurality of light sources generally disposed in a plane and at least one light source disposed outside the plane. The optical detecting system includes first and second linear detector arrays adjacently disposed with longitudinal axes perpendicularly oriented. Each array senses target motion along a single line parallel to its longitudinal axis.

Abstract: In a robotic assembly system including a robotic device composed of a base member, a plurality of movable members and joint mechanisms coupling the members in a sequence extending from the base member such that a first one of the movable members is supported by the base member and is rotatable relative to the base member about a respective axis and each of the other movable members is supported by, and rotatable about a respective axis relative to, a respective preceding movable member in the sequence, with the last movable member in the sequence being an end member for supporting a workpiece which is to be brought to a selected position relative to a fixed body by movement along a reference plane associated with the body, the selected position corresponding to a set of reference angular positions each of which defines an angular position of a respective movable member about the respective axis thereof, the joint mechanisms are controlled by a computer system coupled thereto in such a manner that one of the m

Abstract: A method and arrangement for enhancing the ability of robots to perform precision assembly and machining employing adaptive clamping surfaces attached to the robot end effector in locations providing high mechanical advantage against working forces, and adaptive clamping foundations that become immobilized at the desired work location to form a local work foundation.

Abstract: An apparatus which acquires individual articles having a substantially cylindrical aperture therein from a supply of roughly aligned articles in a storage bin. The apparatus grips the article on the interior wall of the cylindrical aperture therein. The gripper is moved to retract the article from the storage bin. The article is then moved to a receiving member which aligns the longitudinal axis of the cylindrical aperture of the article substantially parallel or coincidental with the longitudinal axis of the receiving member.

Abstract: A robot gripper control system is disclosed which uses PVDF piezoelectric sensors to actively damp exerted force. Instead of charge amplifying the output of the piezoelectric transducer, the output voltage is measured as the charge drains across a path of low resistance. Thus, the sensor output is proportional to the rate-of-force exerted by the gripper. The PVDF sensor and a strain gauge are arranged in a proportional and derivative (PD) control system for the control of force of a robot manipulator hand. Experimental results for the particular disclosed gripper indicate that as much as a 900% improvement in force step response rise time and a 300% reduction in overshoot are possible through the use of the PVDF sensor.

Abstract: Compliant linkage apparatus for providing, in a single stage, three degrees of freedom in a single plane, the apparatus comprising an upper plate, a lower plate under the upper plate, sliding means for allowing the upper and lower plates to slide relative to each other in X, Y, and theta, and orientation means for causing the plates to attract each other in a particular orientation to resiliently resist relative lateral and rotational displacements of the plates.

Abstract: An apparatus for automatically extracting objects individually from containers comprises a stand, beneath which a container having the objects that are to be extracted can be erected; an extractor arm movably disposed on the stand in the area above the container; a device for axially extending and retracting the extractor arm; and a device for guiding the grasping element of the extractor arm to various areas in the container interior. In order to attain reliable emptying of the container, especially in the rim areas and corners, a holding device for the extractor arm is provided, which is connected to the stand via a cardan joint suspension system. A drive mechanism is provided for the longitudinal displacement of the extractor arm relative to the holding device, as are further drive mechanisms for pivoting the holding device in two vertical planes at right angles to one another.

Abstract: A fluid servomechanism has a first actuator driven by fluid, a second actuator, and a pressure generator for generating pressure corresponding to the difference in displacement between output shafts of the first and the second actuators. Therefore, a compact-size finger facilitating angularly free movement and having a highly elaborate human-like function can be attained.

Abstract: An exchangeable end effector tool includes, in combination; an engaging machanism, accessible to the extending fingers of a cooperating end effector disposed on the distal end of a robotic arm. The tool includes an indexing structure for mating and cooperating with the indexing device provided on the distal end of the end effector extending fingers and structure for cooperating with the mating locking device provided in the distal end of the end effector extending fingers which retains or releases the tool upon the end effector extending fingers responsive to a computer command signal coupled to the end effector locking device. The tool has the engaging mechanism affixed thereon, and includes a device for performing a prescribed function.

Abstract: An advanced servo manipulator has modular parts. Modular motor members drive individual input gears to control shoulder roll, shoulder pitch, elbow pitch, wrist yaw, wrist pitch, wrist roll, and tong spacing. The modules include a support member, a shoulder module for controlling shoulder roll, and a sleeve module attached to the shoulder module in fixed relation thereto. The shoulder roll sleeve module has an inner cylindrical member rotatable relative to the outer cylindrical member, and upon which a gear pod assembly is mounted. A plurality of shafts are driven by the gears, which are in turn driven by individual motor modules to transmit rotary power to control elbow pitch as well as to provide four different rotary shafts across the bendable elbow joint to supply rotary motive power to a wrist member and tong member.

Abstract: An apparatus for positioning a plurality of semiconductor substrates on a movable, support in a desired pattern, in a semiconductor vapor phase growing apparatus. A memory is provided for storing two dimensional data corresponding to the desired pattern. The desired pattern is predetermined by the sizes of the substrates and the space available on the flat support. A loading/unloading device loads and unloads the substrates on the support at positions corresponding to the two-dimensional data read from the memory. A positioning device positions the support so that the substrates can be loaded and unloaded at the predetermined positions. A control device synchronizes the movement of the loading/unloading device and the positioning device in accordance with the selected position so that the substrates are loaded and unloaded on the flat support in the desired pattern.

Abstract: A robot hand having six optical approach sensors each including a light emitting element and a light sensing element is disclosed. Each optical approach sensor is adapted to detect an object in the vicinity of the robot hand such that the object may be picked up or avoided. The sensor units are adapted to detect objects by reflecting light therefrom, receiving a portion of the reflected light and providing an output signal, the magnitude of which is proportional to the intensity of received light. An output circuit is responsive to the sensor output for determining the magnitude of the sensor output signal, and hence the distance which separates the approach sensing unit and the object. The output circuit thus provides a plurality of control signals which are used by a motion control processor to control the speed at which the robot moves.

Abstract: A method and apparatus for calibrating a computer guided robotic apparatus. At least one camera mounted on the robot arm or fixed at the work station views a target comprising a pattern of at least three dots fixed to the other of the robot arm or work station, such viewing taking place as the robot arm approaches the work station to carry out the intended operation. The sensing of any deviation relative to a predetermined target pattern is transmitted to the computer to reset the robot's computerized guidance system.

Abstract: A positioning device for a hoisting bank with a plurality of horizontally adjustable gripper means, such as vacuum cups, for groupwise handling of cargo units, such as paper rolls. The hoisting bank is of a kind including one or more guiding arms adapted for contacting the cargo units in the group to be lifted enabling the crane operator to adjust, if necessary, the center distance between the gripper means relative to the center distance between the cargo units prior to that the gripper means are positioned on the cargo units. In accordance with the invention at least one of the guiding arms (24) is provided with sensors (40, 30, 32) adapted for upon contacting an adjacent cargo unit (20) or units (20,20) and in dependence upon the outer contour of the cargo unit in question, to effect automatic extension, respectively retraction of the center distance of the gripper means (12) in dependence upon the center distance between the cargo units (20) in the group.

Abstract: A multi-joint arm robot apparatus comprises a multi-joint arm having a plurality of unit arms coupled in tandem with each other through joints, and a movable support for supporting the proximal portion of the multi-joint arm. The multi-joint arm robot apparatus has motors for controlling joint angles of the joints and a motor for moving the movable support. These motors are driven by a control system. The control system controls the motors to obtain proper joint angles, in such a way that the joints of the multi-joint arm are put into a given path when the movable support is moved a given unit distance.

Abstract: A welding robot is provided with a first joint member in addition to a welding gun. A work holder provided with a second joint member adapted to be connected with the first joint member and a clamp mechanism for gripping a workpiece is positioned in a predetermined waiting position. The welding robot accomplishes welding on a workpiece transferred to a first station and when the welding is completed, the welding robot approaches the work holder in the waiting position to connect the first and second joint members with each other. Then the robot returns to the first station carrying the work holder and permits the clamp mechanism of the work holder to grip the workpiece at the first station. Thereafter, the robot moves to a second station to transfer the workpiece from the first station to the second station. Then, the clamp mechanism releases the workpiece and the robot moves away from the second station to the waiting position with the workpiece left at the second station.

Abstract: An article gripper assembly comprising a support member, a movable base member movable back and forth in a predetermined direction with respect to the support member, a pair of finger members movable toward and away from each other with respect to the base member in opposite directions parallel with the predetermined direction, a rotatable member rotatable about an axis fixed with respect to the base member and substantially perpendicular to the predetermined direction, link members coupling the rotatable member operatively to the finger members for converting rotation of the rotatable member in one direction about the axis of rotation of the rotatable member into movement of the finger members toward each other with respect to the base member and rotation of the rotatable member in the opposite direction about the axis of rotation of the rotatable member into movement of the finger members away from each other with respect to the base member, a pair of centering members fixedly positioned with respect to the

Abstract: An electric industrial robot comprises a movable robot assembly (10) forming therein an airtight chamber, and an electric drive unit for driving the robot assembly. The electric drive unit comprises a plurality of motors (36-41). The respective casings (36a-41a) of the motors are disposed within the airtight chamber (30) of the robot assembly. Electric cables (57-62) connected to the motors, respectively, are led through the airtight chamber into a fixed pipe (67) connected to the robot assembly. The interior of the motors and the interior of the airtight chamber are kept at a pressure higher than an atmospheric pressure outside the robot assembly.

Abstract: The invention relates to a pneumatic gripper comprising at least one movable finger of which the clamping force is controlled by the weight of the object handled. Each movable finger includes a pneumatic actuator (1) of which the movable member (2) is solidly joined to a flexible blade (4). A stop member (4) is fastened to the free portion of this blade (4) and will touch the object to be seized. Two potentiometers (9, 11) are located on the sides of this blade (4) and their respective outlets (9b, 11b) are connected to an actuation chamber of the actuator so as to achieve a pressure difference between these chambers (1a, 1b) and hence a clamping force directly related to the blade bending. Each finger furthermore includes proximity sensors (7) for the object to be seized, whereby this object can be approached rapidly without danger of tipping it over when making contact with it.

Abstract: A grab assembly for handling articles such as hot and cold steel ingots and molds, characterized by multiple current relays and limit switches that enable selection of different grip forces. The assembly comprises complemental tongs, an electrically powered drive for actuating the tongs and compressing springs which resiliently restrain the tongs in gripping engagement with an article, an electrically operated holding brake for maintaining such resilient restraint of the tongs, and a selector for rendering operative any one relay and corresponding limit switch which redundantly operate to stop the powered drive and set the holding brake in response to motor current and spring compression reaching respective predetermined amounts corresponding to a respective desired gripping force at the tongs. Also disclosed is a crane employing the grab assembly.

Abstract: An electric motor-actuated load clamp for automatically-guided vehicles has clamp arms which are selectively opened and closed by a plurality of rotary electric motors connected to the clamp arms by ball screws. Clamping force is accurately controlled by regulation of current to the electric motors, any of a number of different predetermined clamping forces being selectively obtainable. During clamping of a load, the electric motors are energized only a small fraction of the time according to a time-sequenced clamping and reclamping procedure, clamping force being otherwise maintained by a one-way brake. Further control features ensure against inaccuracy and overclamping due to current in-rush, and against malfunctions which could cause safety hazards.

Abstract: A robot hand device is provided with a collision protection coupling between a protective plate holding the hand device and a base plate mounted on the robot arm. When the hand device collides against an object in its surroundings, spring biased balls are disengaged from the recesses of a tapered pin of the protective plate by the impact of the collision so that the tapered pin comes away from a tapered hole of the base plate and the protective plate is uncoupled and suspended by a coupling chain to prevent damage.

Abstract: The invention provides an "on the fly" adjustable clutch for use with robot end-of-arm tooling that provides a means for sensing movement of a tool attached to the clutch and can send a signal to shut down the robot when an overload is encountered. The clutch includes a piston capable of lateral movement within a chamber that is slidably mounted on a pin and a tool plate. The pin extends beyond the clutch housing, and the tool plate is pivotally mounted on the pin. Biasing means acts to bias the piston away from the tool plate such that the tool plate is held somewhat rigidly in relation to the clutch housing by the biasing means. In a preferred embodiment, the biasing means includes springs and pressurized air that may be introduced into the piston chamber on either side of the piston to increase or decrease the bias of the springs. Thus, the clutch is capable of varying sensitivities with the biasing means being adjustable under program control.

Abstract: An apparatus for automatic glazing of cars which comprises a robot having a robot arm. A tool is mounted on the robot arm for gripping a window glass, and two T.V. cameras are fixed along a conveyor line for respectively taking images of front and rear pillars of a body shell stopped at a predetermined position. T.V. cameras are mounted on the gripping tool for taking images of a window frame for position compensation of the window glass, and an image processing unit is provided for distinguishing the kinds of body shells and for calculating position variations of the stopped body shell with respect to predetermined positions thereof from the images. A control unit is provided for receiving signals corresponding to the position variations from the image processing unit and for moving the robot so as to compensate for position variations.

Abstract: An apparatus and method for translating an object held by at least two fingers of a robot hand to a predetermined position relative to a fixed point of the robot hand is disclosed. The apparatus comprises a linear potentiometer for sensing the position of each finger relative to the fixed point on the robot hand. A microcomputer identifies the finger at the greater distance from the predetermined position as the position-controlled finger, and identifies the other finger as the force-controlled finger. Pneumatic cylinders and valves impart movement to each finger. A pneumatic servovalve controls movement of the position-controlled finger according to the position of the position-controlled finger relative to the fixed point of the robot hand. In an alternative embodiment, the movement of the position-controlled finger is controlled according to both the position of the position-controlled finger and the position of the force-controlled finger.

Abstract: A panel laying machine for use as a "power assist" in installing access flooring. The machine includes a self-propelled chassis, a mast extending upwardly from the chassis and a jib turnably mounted on the mast. A panel gripper head is suspended from the mast by a cable coupled to a winch on the jib and the gripper head includes controls manually operable by an operator to raise and lower the panel, release the panel from the gripper head and move the chassis. A safety interlock is provided so that the panel cannot be released by the gripper head while the suspension cable is supporting a load above a predetermined limit.

Abstract: An expandable and contractable arm is constituted by a plurality of expandable and contractable units and connecting devices including universal joints for serially interconnecting the units into the arm. Each unit includes at least three expandable and contractable operating members in the form of link mechanisms or double thread type expandable and contractable rods, and actuating devices for equally or unequally expanding and contracting the operating members so as to increase or decrease distances between the connecting members while maintaining them in parallel or inclined with respect to each other.

Abstract: A method for teaching a holding position and a holding angle of a work by a hand of a robot to the robot in a robot system having a visual sensor attached to a movable arm of the robot. First, the work is held by the hand which is in a prescribed reference angle state and put down on a working table with keeping the holding state. Next, the centroid position and the angle of the principal axis of the work are recognized by the visual sensor. Finally, the holding position and the holding angle are acquired by using the centroid position and the angle of the principal axis, a posture data of the robot and the hand, and a mutual relation data of a robot coordinate, a visual coordinate and a hand coordinate of the robot system.

Abstract: The invention concerns a manipulator (1) which is able to automatically receive the tool holder (7), to clamp it and to set it down again, in order thus to make possible a rapid changing of different tools. For this purpose, the last drive element (6) of the manipulator (1) as well as the tool holder (7) are provided with coupling parts (8,9) and with cooperating screw systems (16,17). The manipulator-side screw system (17) is mounted via an operating element (11) for rotation at a second operating element (10) which forms a rotation barrier (13) with the tool holder (7) as the coupling parts (8,9) come together. The screwing process is actuated by rotation of the last drive member (6). The two operating elements (10,11) are furthermore non-rotationally connected through a fixing mechanism (20). This rotation lock is abolished as soon as the rotation barrier (13) between the operating part (10) and the tool holder (7) becomes effective.

Abstract: An automated cassette handler for transporting a cassette containing integrated circuit wafers between first and second elevators in a standardized mechanical interface (SMIF) system for integrated circuit processing. The handler is adapted to grip and transport the cassette while positively pushing the wafers into the cassette.

Abstract: A method and a device for determining the reference positions of an industrial robot, in which datum surfaces (1a, 1b) are formed in the fixed base (1) of an industrial robot having a plurality of degrees of freedom of motion. The reference positions with respect to directions corresponding to the degrees of freedom of motion of the wrist base (5) and the wrist front section (7) are determined relatively to the fixed base (1) by means of a jig body (11) located fixedly on the datum surfaces, and measuring instruments (14 to 19) attached to the fixed base (1) at predetermined reference positions thereon, and the determined reference positions are given and taught to the NC unit of the industrial robot.

Abstract: An apparatus for automatically opening and closing a door of a vehicle body which is transferred by a conveyor or is stopped at a predetermined position in a manufacturing process. The apparatus accurately controls the opened angle of the door with the guidance of the combination between an engagement member and an opening thereof.

Abstract: An electrical control system is provided for controlling a number of different operations in a transfer apparatus for transferring parts from one die to another. The controls of the operations are independent of each other and need not be made in cascade. Adjustments of any one of the operations may be made without directly affecting the other operations.

Abstract: An electronic force-detecting robot gripper for gripping objects and attaching to an external robot arm is disclosed. The gripper comprises motor apparatus, gripper jaws, and electrical circuits for driving the gripper motor and sensing the amount of force applied by the jaws. The force applied by the jaws is proportional to a threshold value of the motor current. When the motor current exceeds the threshold value, the electrical circuits supply a feedback signal to the electrical control circuit which, in turn, stops the gripper motor.

Abstract: A pressure sense recognition control system having at least one pressure sensor module for detecting the two-dimensional distribution of the component forces in the three directions in the rectangular coordinate system of a force applied to the pressure receiving surface of the pressure sensor modules. The pressure sensor module has at least one pressure sensor cell having a pressure sensing member made of single crystal silicon, and a plurality of diffusion type strain gauges provided on the surfaces of the pressure sensing member which are substantially perpendicular to the pressure receiving surface and for detecting the three component forces applied to the pressure surfaces in response to the changes of an output of a bridge composed of the strain gauges. These members are mounted on an object, the drive of which is to be controlled.

Abstract: Apparatus for determining the position of a point movable throughout a measuring volume relative to a set of reference axes includes a probe member (10) having a probe tip (11) defining the position of the movable point. The measuring probe (10) also has first and second reference points (12, 13) spaced apart from one another and having a fixed known spatial relationship with one another and with the probe tip (11). Means (16) are provided for moving the probe member (10) so that the probe tip may be positioned at any desired point within the measuring volume. At least three distance measuring equipments (15) are provided, located outside the measuring volume at fixed known positions relative to the set of reference axes and each operable to determine the distance between it and each of the reference points (12, 13) on the probe member (10). Calculating means (19) are provided to calculate from said distance measurements the position of the probe tip (11).

Abstract: Wafer transfer apparatus including a wafer-pickup element having suction openings closer to the edge of wafer than the wafer's center so that the wafer can be picked up with greater certainty as to the locations of the wafer edges, the pickup element being thin and made of a structural layer of rigid structural material having grooves and a TEFLON layer laminated to the structural layer and having suction openings, the grooves and covering portions of TEFLON defining vacuum passages.

Abstract: Self-contained apparatus able to move along a non-horizontal surface and comprising a first train and a second train (48) connected to the first train by devices allowing to obtain a relative displacement by translation and rotation in a plane parallel to the surface, and first and second holding devices (2) carried respectively by the first and the second trains and able to fix removably the apparatus on the surface, wherein the holding devices carried by at least one of the trains are connected to the train through devices capable of displacing said train with respect to the holding devices in a direction perpendicular to the surface. Preferably, the holding devices (2) of the first train are comprised of a plurality of adherence devices forming a polygon and arranged outside the center of the holding devices of the second train, and the apparatus further comprises a processing or inspection tool (60) mounted so as to pivot with respect to the first train.

Abstract: In an industrial robot system, the robot is first moved to a starting position, and, when the temperature of the robot exceeds a predetermined value, a position checking operation is effected to move the robot towards the starting position so that, according to the difference between the starting position and the position where the robot has been stopped by the position checking operation, a compensation value is provided for temperature compensation of the robot, whereby, even when the working arms of the robot are extended or contracted by temperature variations, the robot can perform its working operation correctly.

Abstract: An exchange system is provided for connecting a remote, manipulable element, such as a robot arm tool gripper, to a central control source, such as a robot arm and its associated programmable control. An upper exchange unit attaches to the robot arm and receives control signals which pass through the body of the upper unit to a matable lower exchange unit. A plurality of lower exchange units are provided, each attached to an individual tool gripper and relaying control signals to the gripper. The mating upper and lower exchange units provide for serial connection of the robot arm to any desired one of an array of tool grippers and for communication of control signals through the mated units to each tool gripper without the need for separate control umbilicals between each tool gripper and the control signal source.

Abstract: The disposed fruit harvesting robot comprises fruit detecting sensors arranged around an opening of a cylindrical case for taking in fruit. The case also includes at least one additional sensor disposed inside the case.

Abstract: A two-handed robot device in which a hand supporting frame, which is moved to a position to grasp or release a workpiece by indexed rotation of a wristlike member, is provided with a first hand fixed on one side of the supporting frame, a striker which moves back against a spring force when touching a workpiece to be grasped by the first hand, a first detector which is made to operate by the backward movement of the striker, a second hand having its base portion fitted pivotally on the other side of the supporting frame so that it can be tilted from an engagement position toward the supporting frame and which is actuated toward the engagement position by a spring, and a second detector which is made to operate by said tilting movement of the second hand, and in which the movement of the first hand when approaching a workpiece and the movement of the second hand when approaching a workpiece stand are stopped according to the detection signals of the first and second detectors respectively.

Abstract: An end effector move is executed by transforming the end effector position and orientation into joint coordinates at a large number of points on the end effector trajectory. On-line joint trajectories are determined in real time by looking ahead a few points on the end effector trajectory and generating points along the different joint trajectories. The current point and the look-ahead points are referred to as a block. An initial estimate of the slope at the block end points is made and then improved by overlapping the next block with the current block. The coefficients of the polynomials converting the points in the joint trajectories are interpolated to provide position commands to a servo control associated with the robot joint to control robot joint motion.

Abstract: A manipulator suitable for tasks in remote places which are not easily accessible to operators comprises an arm composed of a series of arm modules each having an articulate and an address decoder and being constructed by the arm modules of an identical construction to attain an easy maintenance and high flexibility of the manipulator. The operation of the arm modules is controlled a control system which has a plurality of articulate angular-position commanding circuits and a time-sharing control circuit.

Abstract: A protection arrangement for industrial robotics and other applications reacts to torsion moments and pressure forces in addition to bending moments and traction forces acting upon the flange of the industrial robotics. In the protection arrangement, a protection flange (1) is pulled or held in compression against pins (6) arranged on a divided circle with the tie rod (2) by means of springs (3). On the left end of the tie rod (2) an activating element (10) has been arranged, pressed against a sliding member (12) and/or activating levers (17) by means of spring (11). Upon shifting the activating element (10), a switch (13) is activated for deactivating the industrial robots. This protection arrangement provides mechanical protection for the gripper in addition to the conventional fuse electrical protection for the activating drives.

Abstract: A robot installation for performing a plurality of assembling or machining operations at a work or assembly station comprises a robot with a rotatable tool support, e.g. a ring or disc, carrying a number of tools. The turning and positioning of the tool support are controlled by control equipment of the robot. The tools are adjustably positioned on the tool support.

Abstract: An apparatus and method is disclosed for providing tactile feedback information to the operator of a remotely operated manipulator assembly, such as a robot arm, by mechanically coupling a vibration sensitive transducer to said assembly and audibly reproducing the transducer output for operator listening. The use of an accelerometer as a vibration sensitive transducer is disclosed as well as techniques for cancelling environmental noise.

Abstract: A programmable automatic assembly system is provided which may be employed to assemble small parts. Each assembly station includes cooperating manipulator arms which are programmable to assemble parts on a centrally located work table. Improved facilities are provided for teaching the manipulator arms at each station, these facilities including a computer which assists the teaching operator in setting up the programs required for assembly of small parts to close tolerances. Each manipulator arm includes closed loop teach facilities for maintaining the arm at a previously located position during the teaching mode of operation. The computer is employed as a teach assist facility in performing a number of tasks during the teaching operation which are extremely difficult for the operator to perform manually. All of the assembly stations may be controlled during playback from a common disc storage facility so that the control circuitry and memory storage facilities at each manipulator are minimized.