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 log skidder apparatus includes a frame provided with pivotal attachment points for the reception of the three point hitch components of a tractor. One of the frame carried attachment points is coupled to a hydraulic cylinder for imparting tilting movement to the frame to lift and advance the end of a log being transported into abutment with the frame. A truss of the frame carries a grapple assembly. An upright shaft is journalled in the truss and carries the grapple assembly with the shaft having an arm thereon biased by a spring urging the assembly to a predetermined position to facilitate grapple engagement with a log end. The frame is equpped with plates to confine the log end against displacement from the frame.

Abstract: An electric actuator which is used for e.g. an arm of an industrial robot includes a composite shaft having a ball screw groove and a ball spline groove, a hollow motor through which the composite shaft extends, a ball screw nut fitted threadedly about the composite shaft and secured to a motor shaft, and a ball spline nut fitted about the composite shaft and secured to a motor housing. The ball spline nut, ball screw nut, and motor are arranged in the order mentioned as viewed from an attachment for a moving body which is provided at one end of the composite shaft. An angular-contact bearing which supports the motor shaft rotatably is situated closer to the ball screw nut than the motor is.

Abstract: Handling equipment and a grapple device for handling balled plant loads such as trees and shrubs are disclosed. The grapple device which may be pivotally mounted on any suitable vehicle has a lengthwise frame. A pair of pivot rotary actuators having their rotational axes oriented transversely to each other are attached to the end of the frame. A grapple mechanism having pair of diametrically opposed grapple blades pivotally attached to a support member is fastened to one of the pivot rotary actuators. The grapple blades are opened or closed about the root ball of a plant by means of actuators, preferably hydraulic cylinder actuators. The grapple mechanism also has a slidably adjustable foot member which is positioned between the grapple blades to stabilize the plant load. The interior surfaces of the grapple blades and foot are adapted to engage the root ball of the plant.

Abstract: A multi-axis electric spraying robot adapted for use in a hazardous environment includes a base having a first pressurized compartment and an arm assembly having a second pressurized compartment in which compartments electric motors are respectively located. The arm assembly is supported for movement on the base at one end thereof. The arm assembly includes a wrist adapted for connecting the opposite end of the arm assembly with a spraying tool. One electric motor is provided to drive each axis. The compartments are pressurized to prevent flammable gases or vapors from entering the first and second compartments during operation of the robot.

Abstract: A parallel robot comprises a base, three set of arm assemblies disposed on the base at a predetermined spacing, and a bracket member which is supported by the arm assemblies and to which an end effector is attached. Each of the arm assemblies comprises a pair of motors mounted on the base to face each other with a predetermined clearance and a pair of arms which are supported by the motors to be swung, respectively. Each of the arms comprises a first arm portion and a second arm portion. The first arm portion and the second arm portion of each arm are connected with each other through a first joint means, and the second arm portion of each arm is connected with the bracket through a second joint means.

Abstract: An automatic container loading device connected to an appropriate truck comprises a first telescopic arm connected to the chassis of the truck and able to rotate, both on a horizontal and on a vertical plane, a second telescopic arm centrally connected to the free end of the first arm and able to make a complete rotation on its vertical axis and comprising a third arm and a fourth arm, also able to make a complete rotation. The third and fourth arms support a mechanism for gripping containers of all shapes and sizes form any position whatsoever, even at a considerable distance from the truck and on a different level, placing them automatically in the right position for being lifted and emptied into the body of the truck.

Abstract: A substrate conveying apparatus usable with a semiconductor manufacturing apparatus wherein a pattern of a mask is transferred onto a semiconductor wafer by exposing the semiconductor wafer to synchrotron orbital radiation or other exposure energy through a mask. The conveying apparatus transfers the semiconductor wafer to and from a wafer chuck while the surface thereof extends vertically, and/or transfers the wafer to and from a wafer cassette which contains a plurality of wafers horizontally. The apparatus includes a conveying hand having a gimbal mechanism for supporting the semiconductor wafer to assure the semiconductor wafer transfer to and from the wafer chuck while the wafer is vertical. When the semiconductor wafer is transferred to and from a wafer cassette, the apparatus is provided with a correcting mechanism for correcting the attitude of the conveying hand to prevent the semiconductor wafer from contacting the wafer cassette.

Abstract: A robot hand is implemented by a wrist mechanism coupled with a retaining member for allowing a work to rotate around a first axis, and the wrist mechanism comprises a first bracket member rotational around a second axis and a second bracket member holding the retaining member and rotational with respect to the first bracket member around a third axis, wherein the first to third axes cross at a virtual point within a virtual space occupied by the work so that a distance between the virtual point and a center of the work is decreased, thereby delicately controlling the attitude of the work.

Abstract: A gripping unit includes a generally U-shaped frame fixed to a shaft which is rotatably connected to a manipulator arm. The actuator frame has a pair of spaced apart actuator arms. A generally U-shaped payload frame has a bracket member for attaching to a payload and a pair of payload arms extending from opposite ends of the bracket member. Each payload arm is pivotally coupled to a corresponding one of the actuator arms so that the payload frame is pivotal with respect to the actuator frame about an axis which is perpendicular to the axis of the shaft. A cam mechanism is operable to releasably hold the payload frame in certain orientations. A brake device prevents rotation of the actuator frame about the axis of the shaft.

Abstract: A six-degree-of-freedom articulated robot mechanism includes a three-degree-of-freedom translation unit for adjusting the position. The translation unit includes an orientation maintaining mechanism which has a rotation articulation of the direct drive type connecting a drive motor directly to an arm, and a link mechanism. A three-degree-of-freedom rotation unit for adjusting the orientation includes three rotation articulators of the direct drive type connecting a drive motor directly to a table, and the axes of the three rotation articulators intersect one another at one point.

Abstract: An attachment for loading and unloading a constructional material capable of substantially improving working efficiency and accomplishing labor saving. A pair of holding arm are pivotally mounted in a manner to be laterally spaced from each other on an arm mounting bracket arranged on a lower surface of a bracket mounted on an arm of a hydraulic shovel, between which a hydraulic cylinder is arranged, resulting in a constructional material being supported between or on the holding arms. Thus, force required for supporting the constructional material can be finely controlled as desired to prevent the material from being broken or damaged due to the application of excessive force thereto.

Abstract: A hydraulically operated handler for drums and the like is mounted on the boom of a tractor so as to be selectively pivoted from a vertical position to fifteen degrees past a horizontal position. Grappling arms are mounted on a front plate which is selectively rotatable through 360.degree. by a hydraulic motor. A spindle rotatably supporting the front plate contains hydraulic operating fluid passages which are coupled through a rotating coupling mechanism to hydraulic cylinders operating the grappling arms. The selective pivotal motion together with the ability to selectively rotate the grappling hooks 360.degree. enables effective gripping and handling of drums.

Abstract: A cutter exchanging apparatus includes a cam mechanism mounted on a driving shaft of the apparatus. The cam mechanism includes a cylindrical roller and a plate attached together. The cylindrical roller has a first and second end, and an endless recessed cam groove that includes an upper circumferential recessed cam groove formed adjacent to the first end, a lower circumferential recessed cam groove formed adjacent to the second end and two transition gradually curved cam groove, each connected to each of two free ends of the upper and lower circumferential recessed cam groove. The plate has a recessed groove that includes a starting point formed adjacent to the center point of rotation of the plate and an ending point.

Abstract: This invention is a flexible limb capable of changing length, bending in any direction, twisting, and changing cross-sectional size. Its skeletal structural design promotes optimal simplicity of control, ease of construction, lightness, and stiffness.

Abstract: A cable suspension compliance mechanism has a top plate for attaching the mechanism to a robot and a bottom plate for attaching the mechanism to a gripping device. Steel cables interconnect the plates and maintain the plates substantially parallel relative to each other. Pneumatic cylinders are also disposed between the plates to adjust the mechanism's stiffness by adjusting the tension of a selected number of the steel cables. The mechanism is also equipped with magnetic inductance sensors to sense the position and classification of the article to be gripped. Additionally, the mechanism has an overtravel sensor to indicate the presence of unexpected obstacles, and to stop the mechasnism in response thereto.

Abstract: A rotator for use on backhoe boom to rotate attachments thereon relative to the boom. The rotator has a main support frame pivotally secured to the boom with a rotating extension mount onto which the attachment is secured. A rotary joint for hydraulic controls extends from the main support frame and a hydraulic drive motor and gear assembly engage and rotate the extension mount extending from the main support frame.

Abstract: A tool changing system for chip forming machine tools is described which with a simple construction ensures a tool change both in conjunction with horizontal spindles and vertical spindles and also spindles which adopt intermediate positions, which minimizes the flight circle or disturbing circle and ensures short change times. This tool changing system includes a double grasper arrangement which is linearly movable by means of a transport device, which can execute pivotal movements over different angular ranges and which has grasper arms which are directed parallel to the pivot axle of the double grasper arrangement and are symmetrically displaced relative to one another in two perpendicular directions relative to the pivot axle, with each grasper arm being adjustable perpendicular to its longitudinal extent over a predeterminable stroke.

Abstract: A workpiece transfer apparatus includes a first arm mounted at its lower end on a base for angular movement about a first angular movement axis extending substantially horizontally. A second arm is mounted at its upper end on an upper end of the first arm for angular movement about a second angular movement axis parallel to the first angular movement axis. The first arm is longer than the second arm. The apparatus further comprises a holder device for releaseably holding a workpiece. The holder device is mounted on a lower end of the second arm. The holder device and the first arm are disposed respectively on the opposite sides of the second arm spaced from each other in the direction of the first and second angular movement axes, so that the holder device, when moving horizontally, does not interfere with the first arm. The first and second arms are angularly moved respectively by first and second drive devices.

Abstract: A device is provided for tiltably connecting the boom section of a backhoe unit to the dipper section of the backhoe unit. The device includes a first member mountable to the dipper section so as to be rotatable about a first pivot axis transverse to the dipper section. The first member is connectable to the boom cylinder of the backhoe which pivots the first member about the first axis. A second member is provided which is attachable to the boom section of the backhoe. Respective coupling brackets extend from the first and second members to pivotably couple the first and second members and enable them to rotate about a second pivot axis generally orthogonal to the first pivot axis. Fluid cylinder mounting brackets extend from the first and second members adjacent the edges thereof to mount a pair of fluid cylinders in a diagonal crosswise configuration between the first and second members for tilting the first and second members relative to each other about the second axis.

Abstract: A grapple device (12) adapted for coupling to a conventional loader (110) is provided which is especially adapted for the pickup and handling of elongated auger sections. The device (12) includes a pair of pivotal arms (28,30) having auger-engaging pickup members (72,74) secured to the outermost ends thereof. The arms (28,30) are movable between a closed, auger-engaging position and an open position by a stationary piston and cylinder assembly (94) equipped with an extensible piston rod (96); the rod (96) is coupled to the arms (28, 30) by pivotal links (104,106). Selective rotation of the arms (28, 30) is effected by motor (108) coupled via chain (112) and sprockets (110,88) to the arm assembly.

Abstract: A casing stabbing apparatus which includes a derrick bracket subassembly for attachment to a derrick, and a boom having an end pivotally connected to the bracket assembly for pivotation about a vertical axis and about a horizontal axis. A pair of arcuate casing gripping jaws is pivotally connected to the second end of the boom. A piston and cylinder assembly extends between the jaws to selectively converge and diverge the jaws. A second piston and cylinder assembly extends between the bracket assembly and the boom to elevate the boom by pivotation about a horizontal pivotal axis. A third piston and cylinder assembly extends between the bracket assembly and the boom to swing the boom laterally in pivotation about a vertical axis.

Abstract: A device for controlling a manipulator for handling a workpiece processed by a press brake. The press brake is equipped with a side sensor for detecting the horizontal X-axis direction positions parallel to the longitudinal direction of the upper and lower dies of the press brake. The manipulator is arranged to be movable in the X-axis direction and the head of the manipulator is arranged to be rotatable about first and second shafts of the manipulator. The device includes apparatus for inputting a position of the workpiece for an initial bending stage and apparatus for inputting an angle of rotation of the workpiece about the first and/or second shafts of the manipulator for each of a plurality of bending stages.

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 controlled 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 include 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 industrial robot, designed for use in a press brake system, has a holding member for holding a plate shaped material, a base arm, and a working arm. The holding member nearly follows the plate shaped material without holding during a pressing process of the press brake by ensuring sufficient reciprocating distance between the holding member and the base arm, and by decreasing the mass of rotary axes and corresponding second arm members of the working arm which is used to control direction, altitude and other aspects of the plate shaped material. The industrial robot preferably ensures a degree of freedom in the width direction of the press brake by rotatably securing a first arm member to the base arm.

Abstract: A wrist mechanism including: at least three rigid elements each having an element axis, said rigid elements being connected in series so that adjacent two elements are rotatable relative to each other about a rotation axis, the rotation axis of said two adjacent rigid elements intersecting said element axes thereof, each rotation axis of each rigid element intersecting adjacent rotation axis; a first rotating mechanism for rotating every second rigid element relative to the other rigid elements; a second rotating mechanism for rotating the other rigid element relative to said every second rigid element.

Abstract: A robot apparatus includes a robot having a swingable arm, a wrist mechanism mounted on the arm, and a running mechanism for displacing the robot in a prescribed direction. The wrist mechanism is coupled to an attachment member by an actuator having a fluid cylinder substantially parallel to the arm. When a component to be attached to a workpiece is held by a jig mounted on the wrist mechanism, the fluid cylinder is actuated to lift the wrist mechanism in order to correct the jig for the distance it is lowered due to the weight of the component. The wrist mechanism includes a bracket mounted on the arm by a support shaft, the bracket and the support shaft having fluid passages for supplying fluid under pressure to a torque actuator disposed in the bracket. The running mechanism is disposed in a pit defined in a floor on which the robot apparatus is located.

Abstract: A mechanical closed loop robotic arm end effector positioning system which produces a precision reference frame with an associated workpiece fixture or other robotic manipulator system is disclosed. The positioning system results in decoupling of end effector operation from gross movement inaccuracies or vibrations of the robotic arm, thus allowing less precise robots to perform high precision tasks. The system includes a wrist assembly which is mountable to the robotic arm near the arm's distal functional end. The wrist assembly has a compliant member and a first positioning member connected thereto. The first positioning member includes a first docking arrangement. A second positioning member associated with the workpiece fixture includes a second docking arrangement. The first and second docking arrangements are sized and positioned to engageably mate within the robotic arm's resolution when the robotic arm attains a target position relative to the workpiece fixture.

Abstract: The obstacle detector (24) has an upper plate (32) which mounts on the arm (22) of the positioning machine. At least three springs (50) pull the lower plate (34) upward and three projections such as balls (36) provide precise location of the lower plate (34). Lateral force causes actuation of switch (60) to terminate motion of the positioning machine. Vertical impact is sensed by upward motion of outer ball slide (68), which is resiliently held down against stop shoulder (76). The handling device has its foot (74) mounted on the bottom of the outer ball slide.

Abstract: The end of a robot arm includes two links, a first or inner link supported rotatably about a central axis and an end link at which a tool is carried. Located between the links are a rod and a tube whose longitudinal axes are concentric. Each of four gimbal rings is used as a member of a universal joint that connects the links, the rod and the tube. The links are connected by two universal joints in series, and the rod connects these joints. The links are also connected by two other universal joints in series and the tube connects this second pair of joints. The first and second pairs of universal joints connected in series are connected to one another in parallel. Gimbal rings rotatably supported on the tube and on the links for angular movement about yaw axis provide rotational support for the links and the connecting rod about the pitch axis. Actuating rods connected to the inner set of gimbal rings produce articulation of the wrist about these axis when the rods are actuated.

Abstract: There is disclosed a robot used in a clean room and adapted to transport a wafer cassette containing semiconductor wafers. The robot includes: a guide rail disposed in the clean room; a robot body slidably connected to the guide rail for movement along the guide rail; and a first drive mechanism for driving the robot body along the guide rail. The robot body includes: a clamping hand for releasably clamping the wafer cassette; an arm assembly, extending between the guide rail and the clamping hand, for controlling the position of the clamping hand; and a wrist assembly, interposed between the arm assembly and the clamping hand, for adjusting the orientation of the clamping hand.

Abstract: A device to guide an object (A) around two axes (R.sub.1 and R.sub.2).A motor (M.sub.1) controls rotation around an axis (R.sub.1) by three gears (51, 70, 71); a further motor (M.sub.2) controls the rotation of a fork joint (C) around another axis (R.sub.2) by two other gears (26, 27). It simultaneously lets run the entire first motor (M.sub.1). The gears are calculated so that the main shaft (72) of the object (A) moves around (R.sub.2), but does not then revolve around (R.sub.1).

Abstract: An apparatus for mastering a robot includes two balls, each of which has a spherical surface configured to simultaneously contact its respective set of mutually orthogonal locating surfaces of a fixture only when the robot is in a predetermined reference position and orientation. The fixture is mounted on a pedestal of the robot base in a fixed spatial position. One of the balls is mounted for movement with a free end of an outer arm of an arm assembly of the robot. The robot also includes a wrist mechanism. A first end of the wrist mechanism is connected to the free end of the outer arm and a second end of the wrist mechanism is adapted to support a tool. The second ball is mounted for movement with the second end of the wrist mechanism.

Abstract: A robot apparatus includes a robot having a swingable arm, a wrist mechanism mounted on the arm, and a running mechanism for displacing the robot in a prescribed direction. The wrist mechanism is coupled to an attachment member by an actuator having a fluid cylinder substantially parallel to the arm. When a component to be attached to a workpiece is held by a jig mounted on the wrist mechanism, the fluid cylinder is actuated to lift the wrist mechanism in order to correct the jig for the distance it is lowered due to the weight of the component. The wrist mechanism includes a bracket mounted on the arm by a support shaft, the bracket and the support shaft having fluid passages for supplying fluid under pressure to a torque actuator disposed in the bracket. The running mechanism is disposed in a pit defined in a floor on which the robot apparatus is located.

Abstract: An industrial robot comprising a column housing a first group of coaxial hollow shafts rotatably coupled to a first articulated joint positioned at about 60.degree. to the first group of hollow shafts. A second group of coaxial hollow shafts receives the rotating movement from the first articulated joint and transmits it to a second articulated joint, also arranged in slanted relationship at 60.degree.. A third group of coaxial hollow shafts receives the rotating movement from the second articulated joint and transmits it to a third articulated joint which in turn is connected to an end bush supporting implements or operative tools.The invention is of particular advantage thanks to its high mobility and to the particular orientation in the space allowed to the several articulated joints.

Abstract: A gripper mechanism for sampling nuclear fuel pellets at a predetermined depth in a stack of pellets includes a housing and gripping fingers movably mounted to the housing. The fingers are preferably three relatively thin, arcuate-shaped, blade-like fingers angularly displaced from one another for grasping the pellet at spaced locations about its circumference. The fingers have lower facing surfaces which are brought adjacent to one another for engaging and grasping a pellet when the fingers are moved toward their closed position and retracted remote from one another for disengaging and releasing the pellet when the fingers are moved toward their opened position.

Abstract: A one-armed handling device having a single pick-up member designed to secure a metal sheet coplanar to a pick-up plane through the aforementioned pick-up member; which member is supported on a head so as to turn about two perpendicular axes by virtue of a first element designed to turn about a first axis perpendicular to the pick-up plane, and to which the pick-up member is secured directly, and a second element designed to turn about a second axis parallel with the pick-up plane and supporting the first element; the aforementioned head, in turn, being designed to travel along three cartesian axes, by means of an arm, with no variation in the position of the second axis (FIG. 1).

Abstract: An industrial robot provided with at least six joints and adapted to have at least six degrees of freedom, wherein rotational joints rotatable around axes extending lengthwise of the arm and bending joints swingable around perpendicular axes extending perpendicularly to the lengthwise direction of the arm, thereby enabling the position and attitude control for a wrist at the arm and the obstacle avoiding control to change height of an elbow portion at the arm so as to avoid the obstacle.

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

Abstract: Apparatus for determining when the hand of a robot arm, resiliently mounted on a robot arm body, strikes or makes contact with an object that impedes or limits its movement, employs an optical fiber in place of conventional light focusing optics to produce a compact and ruggedized robot arm member relative movement sensor. The apparatus includes a light source mounted in a particular location on the robot arm hand and a light sensitive device spaced from the light source and mounted in a particular location on the robot body, a device that is capable of continuously generating a hand-to-robot arm body relative position signal in response to the particular location of collimated light from the robot hand mounted light source that passes through a light collimating optical fiber and strikes the light sensitive surface of the light sensitive device.

Abstract: Apparatus for determinig when the gripper or hand of a robot arm, resiliently mounted on a robot arm body with a set of highly compliant springs, strikes or makes contact with an object that impedes or limits hand movement. The apparatus includes a light source, preferably mounted in a particular location on the robot arm hand and a light sensitive device cooperatively mounted in a particular location on the robot arm body, a device is capable of continuously generating hand-to-robot arm body relative position signals in response to the position of optically focused light from the light source impinging on the light sensitive device. Relative movement between the robot arm body and the robot hand normally resulting from contact between a motion impeding object and the robot hand causes the light sensitive device to generate a signal indicative of such object contact and/or extent of relative hand-to-robot arm body movement.

Abstract: An electrical robot comprises motors for driving a wrist mechanism mounted on a tip end of an arm. The motors are provided at an intermediate portion of a support beam which is provided on a rotary base and supports the arm.

Abstract: A robotic manipulator for supporting a tool or workpiece, the manipulator including at least one rotary linear actuator adapted to be supported by a base and providing for controlled movement of a manipulator link with two degrees of freedom. The robotic manipulator includes a link assembly having one end spherically joined to a movable member for supporting the movable member, the movable member being adapted to support a tool or workpiece. The link assembly is articulated, and the opposite end of the link assembly is supported by a rotary linear actuator for linear movement in a direction transverse to a longitudinal axis of the opposite end of the link assembly and for rotational movement about the axis defined by that linear movement.

Abstract: The bending and turning movements of the wrist are brought about by drive motors via at least one gear train, in which a cylindrical gear pinion drives a cylindrical gear wheel via an intermediate wheel. For adjusting the backlash, the intermediate wheel is journalled on a movable support which makes contact with a cylindrical guide surface in the wrist housing and can be displaced, by means of two adjusting screws, along a circular path, the center of which coincides with the axis of rotation of the gear pinion. The intermediate wheel is journalled on an eccentric bearing pin on the movable support.

Abstract: A balancing mechanism having a vertical robot arm and horizontal robot arm pivotally mounted to the vertical arm and for each robot arm a link mechanism having a lever as well as a spring connected to the robot arm to be balanced through the link mechanism so that the spring expands and contracts in accordance with changes in the quantity of movement which occurs as the robot arm rotates or travels so as to balance the robot arm.

Abstract: The wrist is built up of two wrist halves, between which the tilt with the turning disc is journalled. Each wrist half comprises an intermediate gearing with conical gear wheels and is built together with a drive motor. The two wrist halves are identical, and each half constitutes an individual trimmable drive unit for turning the tilt and the turning disc, respectively.

Abstract: Robotic tooling is connected to a robot arm with a device including a set of support members connected together to provide for relative axial movement and rotary movement of the tooling in addition to relative lateral movement in two perpendicular directions from a home or normal position. The members are biased to a precise normal position by pressure biased telescopic plungers confined within mating and opposing recesses, and a set of linear transducers sense movement along each of the three axes and also rotary movement to provide a feedback for the robot control.

Abstract: A manipulator comprises three arms 1 which can pivot at different points on a supporting structure 6 and which can be driven longitudinally to adjust their effective lengths. The longitudinal axes of the three arms intersect at a common point but their lower ends are offset from this point and are pivoted about respective axes which also intersect at the aforementioned common point. They are pivotted to an end effector mounting flange 8 which optionally comprises a fourth arm 11 which slides and pivots on the supporting structure. The fourth arm serves to ensure that the flange 8 always faces at a known orientation. It can also be used in co-operation with suitable sensors to produce signals on lines 15, 16 and 18 to a control unit which drives the arms 1 in their linear directions.

Abstract: The invention relates to an industrial robot of a so-called agile type which has a lower arm (16) with double-sided journalling in a stand (12) consisting of two separated, upright parts (12a, 12b), the arm (16) being pivotable in the space between the stand parts. A pivot shaft (24) for pivoting the upper arm of the robot via a crank and a parallel link rod from one of the stand parts (12a) and through a lead-in opening (28) in the lower arm (16). From the other stand part (12b) there extends a drive shaft (30), which is substantially coaxially opposite to the pivot shaft (24) of the crank (22) and which is connected to the lower arm (16).

Abstract: An improved robotic manipulator of the type having a plurality of serially-connected drive shafts and a mounting surface affixed to one end thereof. The manipulator includes a first shaft rotatable about a first axis coincident with one ordinate of a mutually perpendicualr triordinate system and a first housing rotatable about that first axis, a second shaft rotatably mounted to said first shaft for rotation about a second axis obliquely oriented with respect to said first axis, and a second housing rotatable on the first housing about a second axis. Rotational movement is imparted to the second shaft about the second axis in accordance with rotational movement of a shaft rotatable about the first axis. A mounting surface has a centerline angularly oriented with respect to the second shaft, and a third shaft upon which the mounting surface is attached is rotatable about a third axis angularly oriented with respect to the second axis.