Abstract: A manipulator device is described in which a pair of holding members mounted on extensible arms, are rotatable through 360.degree. about an axis parallel to the plane in which they lie and perpendicular to the axis of the arms, and in which the arms are actuated by motor means interconnected together in such a way as to link the holding members for simultaneous displacement in a symmetrical manner.

Abstract: The present invention provides an end of arm tooling (EOAT) internal gripper device for a robot. The EOAT of the present invention provides a gripper portion which can be elastically deformed by being extended or retracted by an internal rod actuator. Extension of the actuator rod causes the gripper portion to assume a smaller dimensional shape for insertion into a workpiece cavity. Retraction of the actuator rod causes the gripper portion to increase in dimension therefore engaging and gripping the workpiece. The EOAT of the present invention is extremely useful in applications requiring large amounts of compliance, delicate handling, and/or in environments wherein an air supply is not available or desirable.

Abstract: An articulated head for an industrial robot has three axes of rotation and three frames, the movements of rotation of which are controlled by only two driving elements carried by the fixed portion of the wrist which is connected to the robot arm.

Abstract: A space spider crane 15 is provided for the movement, placement, and/or assembly of various components on or in the vicinity of a space structure 120. Space spider crane 15 is comprised of a small central body 16 to which manipulators 24 and legs 25 are attached. The legs 25 are equipped with constant pressure gripping end effectors 29 to safely grip space structure 120. Walking by legs 25 or repairing and placing by the manipulators 24 may be controlled either by computer software 140 or a remotely situated human operator 135, who maintains visual contact with the space spider crane via television cameras 22 located at strategic positions on space spider crane 15. One possible walking program consists of a parallel motion walking program that results in small central body 16 alternatively leaning forward and backward relative to end effectors 29.

Abstract: In an industrial robot of a type having an arm made of a pentagonally connected links, of which an uppermost link is secured to a stationary member so as to be swingable around its axis, the uppermost link is rotated by a first motor, while second and third motors are provided nearby the uppermost link for operating upper links connected to the uppermost link swingably. A wrist base is pivotally connected to the lower ends of lower links to be swingable in a plane defined by the lower links and fourth and fifth motors are also provided nearby the uppermost link for driving, through belts and pulleys, a cross-shaped member pivotally connected to the wrist base and a wrist casing pivotally connected to the wrist base so as to swing around axes perpendicularly to each other.

Abstract: A joint mechanism in which a plurality of joints are connected in series and each of the joints may be folded. A chain-like connection of intermediate links (L.sub.1, . . . ) through universal joints (U.sub.1, . . . ) enables the intermediate links (L.sub.1, . . . ) to be folded in any direction, and an arrangement of ball joints (B.sub.1, . . . ) and sliding joints (S.sub.1, . . . ) at the connections of the intermediate links (L.sub.1, . . . ) does not cause any twisting force to be applied to the intermediate links when folded. The joint mechanism shows a soft resiliency and performs an accurate positioning of the distal end of the joint.

Abstract: Pipe handling systems are generally somewhat bulky, relying on a plurality of hydraulic cylinders and complicated linkages. A relatively simple, compact pipe handling apparatus for use on a derrick of the type which can be rotated between the horizontal and the vertical includes an elongated track for mounting on one side of the derrick, a carriage slidably mounted on the track, three swing arms connected end-to-end, the first arm being connected to a rotary actuator mounted on the carriage, rotation around an axis perpendicular to the longitudinal axis of the derrick, a second rotary actuator between the first and second swing arms for rotating the second and third swing arms around an axis parallel to and spaced apart from the longitudinal axis of the derrick, a third rotary actuator for rotating the third swing arm, which carries a pair of jaw assemblies.

Abstract: The specimen (P) can be turned about each of three axes (A, B and C) by rtion of the input shaft (10). The apparatus exhibits three brackets (H1, H2, H3) mounted on each other in the manner of a cardan joint and supported by the frame (GR). The first bracket (H1) is fixed on the frame (GR) via a clutch coupling (K1). Additional couplings (K2 and K3) connect the second bracket (H2) to the first bracket (H1) and the third bracket (H3) to the second bracket (H2). Of the three couplings, only one is ever released, while the two others are engaged. In this manner the specimen (P) can describe a movement about each of the three axes by rotation of the single input shaft (10).

Abstract: A three-axis wrist mechanism has three independent rotational axes with two points of mutual intersection which are offset from each other. The offset provides a generous bend radius for the wrist. First and second housing structures contain the first and second axes while the third axis is disposed within a tool support member. The first housing structure is adapted to be mounted to an outer tubular member of the arm of a robot to rotate independently of the rest of the mechanism. Gear trains of the mechanism provide the independent rotation of the second housing structure and the tool support member to permit selective positioning of a tool-mounting surface of the tool support member within a work envelope.

Abstract: A wrist for an industrial robot with a movable arm is arranged at the outer end of the robot arm and comprises partly a first housing mounted at the end of the arm and journalled for rotation about a first axis which is substantially parallel with the longitudinal axis of the outer part of the arm; partly a second housing journalled in the first housing for pivoting about a second axis which is substantially perpendicular to the axis of rotation of the first housing; partly a tool holder journalled in the second housing for rotation about a third axis which is substantially perpendicular to the second axis; and partly drive and power transmission devices for generating motion in the first and the second housing as well as in the tool holder about the first, the second and the third axis, respectively. The first housing comprises two interconnected sections which are pivotable in relation to each other about a fourth axis extending substantially perpendicularly both to the first axis and to the second axis.

Abstract: A compliant coupling mechaism has a first part (10) connectable to a robot arm (A) and a second part (20) connectable to a robot gripper (G). The mechanism is arranged to allow displacement of the second part relative to first part along a ZZ axis direction, and to allow further relative displacement along and/or about (XX) and (YY) axis directions. A locking device (40) prevents such further relative displacement unless a displacement along the (ZZ) axis direction exceeds a preset amount.

Abstract: An anti-impact safety apparatus for a robot includes a buffer mechanism disposed between a swivel arm and a working arm of the robot. The buffer mechanism incorporates a converting mechanism which converts an electrical signal into a gas or liquid pressure. When an impact load, such as an axial load, eccentric load, or moment load, is applied to the working arm while in operation, the impact load is absorbed by the buffer mechanism and is also detected by a sensor switch, and the operation of the robot is instantaneously stopped. Thus, it is possible to protect the working arm and a function unit incorporated in the robot main body from the impact load. In addition, it is possible for the working arm to be readily restored to its normal position when the eccentricity thereof produced as a result of the impact is corrected.

Abstract: Disclosed is a wrist mechanism for an industrial robot which includes a first wrist member disposed rotatably at the tip of a robot arm and a second wrist member movable relative to this first wrist member. The movement of the second wrist member relative to the first wrist member is effected not in a bending mode in which the angle of intersection between the members is variable but in a rotating mode in which the second wrist member becomes rotatable. The transmission of the rotational power to the second wrist member is effected through a universal joint. With this arrangement, such backlashes as are conventionally found in the engagement between gears can be reduced, and the mechanical burden on the universal joint can also be reduced.

Abstract: A programmed controlled industry robot for the treatment of work pieces having movable parts (24) to be moved prior to treatment comprises a support arm (15) swivelable three dimensionally and a swivel head (17) affixed at the free end of the support arm (15). The swivel head (17) carries a tool and has a plurality of axes and being rotatable around the axes. The axes of the swivel head (17) are loaded with considerably smaller forces than the swivel axes of the support arm (15). A support member (25) moveable with the support arm (15) grips one of the moveable parts (24) of the work piece and moves the work piece into an open position. The support member (25) serves for the lifting of the moveable part (24) of the work piece and is attached to the support arm (15) in such a manner that the forces acting on the support member (25) do not load any of the axes of rotation of the swivel head (17).

Abstract: A hybrid robot (10) for industrial applications comprises an articulated arm assembly (12) pivoted to a turntable assembly (14) mounted for rotation on a base assembly (16). The arm assembly (12) includes an upper arm (26) pivoted to a lower arm (30). A tool adaptor (52) is connected to the upper arm (26) by a wrist assembly (54). A pantograph linkage interconnects the wrist assembly (54), upper arm (26), and lower arm (30) so that the tool adaptor is normally maintained in constant orientation during movement of the arm assembly (12), subject to overriding control by actuators (122, 124). Pivotal movement of the arm assembly (12) is controlled by independent actuators (118, 120) which can be selectively coupled to the arms (26, 30) at different combinations of predetermined points (38, 40, 44, 46, 48) to facilitate adjustment of the work envelope.

Abstract: A wrist driving mechanism for an industrial robot has a first base wrist unit (13) supported on the free end of a robot arm (11) and capable of rotating about a first axis (.gamma.). The first base wrist unit (13) is mounted with a second base wrist unit (14) capable of rotating about a second axis (.beta.). The second base wrist unit (14) is mounted with a fore wrist unit (15) capable of rotating about a third axis (.alpha.). The robot arm (11) is provided along the longitudinal direction thereof with a first power transmitting unit (16) for transmitting a rotative power to the first base wrist unit (13). A second power transmitting unit (19) for transmitting a rotative power to the second base wrist unit (14) is formed along the robot arm (11) and the first base wrist unit (13). A motor (25) for driving the fore wrist unit (15) for rotation is mounted on the first base wrist unit (13). The driving shaft of the motor (25) is coupled with a first transmission shaft (26) extended along the second axis (.beta.

Abstract: An industrial robot in which both a column which is pivotally mounted on a rotatable base member and a boom which is pivotally mounted on the upper end of the column are of hollow construction to provide a rigid lightweight structure capable of carrying substantial loads. The column is counterbalanced by a spring and the boom is counterbalanced by pneumatic cylinders on a movable carriage so that the major axes of the robot can be driven by relatively low energy driving sources. A simplified hand gear train is provided which is capable of carrying substantial loads and is easily serviced.

Abstract: This invention relates to an industrial robot in which a concentric triple shaft is constituted by a first drive shaft (28), a cylindrical, second drive shaft (27) which concentrically encloses the first drive shaft (28), and a cylindrical, third drive shaft (26) which concentrically encloses the second drive shaft (27). There are provided a first box member (65) capable of rotating concentrically with the third drive shaft (26), a second box member (66) which is supported rotatably by the first box member (65) on an axis intersecting the axis of rotation of the first box member (65) perpendicularly or obliquely, and an output member (80b, 100, 105) which is supported rotatably by the second box member (66) on an axis intersecting the axis of rotation of the second box member (66) perpendicularly or obliquely and which is rotated by the first drive shaft (28).

Abstract: The invention provides a modular robotic wrist system for use with an industrial manipulator or the like. The individual modular units comprise a mounting bracket, an A axis module which is attachable to the mounting bracket and provides rotational movement about a first axis, a B axis module which is mountable either directly to the mounting bracket or to the A axis module to provide either rotational movement about a second axis or additional rotational movement about the second axis in conjunction with the rotational movement provided by the A axis module about a first axis and tool-mounting flanges which can be used in conjunction with the B axis module to provide rotational movement of an end effector either on the second axis or radially spaced about the second axis. Each of the modular units has a rotating member which is driven by a high-speed, low-torque DC motor coupled to a harmonic drive unit.

Abstract: A material handling machine including a power driven, steerable chassis which supports a vertical mast and a pivotally attached telescoping boom having a material carrier rack, including a device for securing material to the rack. The mast is supported on a base that is selectively movable in a transverse direction with respect to the chassis. The end of the telescoping boom carries a hydraulic orbiting motor that provides for selective rotation of the rack in either a clockwise or counter-clockwise direction. A pair of hydraulic cylinders, together with a universal joint, are attached to the rack and provide for pivoting or tilting of the rack about both the vertical and horizontal axes.

Abstract: There is disclosed in this application an industrial robot comprising: a first arm pivotally supported at its one end for rotation around a first axis; a second arm pivotally supported at its one end by the other end of the first arm for rotation around a second axis parallel to the first axis; a wrist mechanism carried by the free end of the second arm and having at least one degree of freedom; and driving motors for driving the first arm, the second arm and the wrist mechanism, respectively; wherein at least one of the first arm and the second arm is connected to the drive motor through a double link mechanism having a phase difference.

Abstract: An industrial robot is disclosed which is movable about six revolute axes, and which is modular in nature, to permit it to be configured to efficiently operate in a number of different applications. The robot includes a support stand defining a first primary axis, a waist which is rotatable about the first axis and which defines a second primary axis disposed perpendicular to the first axis, an inner arm fixed to the waist for rotation about the second axis, an outer arm fixed to the inner arm for relative rotation about a third primary axis, and a hand assembly mounted at the end of the outer arm. In addition, the outer arm includes a simplified drive arrangement composed of three concentric tubular members and respective drive motors, for moving the hand assembly of the robot about three additional axes of movement.

Abstract: The invention relates to an industrial robot of the kind comprising a body and an arm system pivotally journalled thereon. In order to achieve an improved and extended working range in a vertical space underneath or above the robot, the arm system is supported in the body via a substantially fork-shaped bearing bracket. Linear actuators intended for the operation of the arms are pivotally journalled in the bearing bracket so that, when the arm system assumes its neutral position, the actuators will be oriented primarily transversely to the longitudinal axis of a body and substantially parallel with the first arm pivotally journalled in the bearing bracket. Both actuators are disposed between the body and the first arm in all positions of the arm system.

Abstract: An excavator bucket of improved versatility is characterized by having gripper means to enable the bucket to grip an object to be lifted and also by being mounted so that it is capable of pivotal movement about two independent axes which are substantially at right angles to each other.

Abstract: The invention is embodied in a manipulator for supporting and transmitting movement to a tool or the like comprising a base 10, a movable tripod tip 16 or plate 60 spaced from the base to which a tool may be attached, an elongated central spine 12, one end of which is attached to the tripod tip and the other pivotally mounted on the base, variable tension applying means comprising at least three cables 18 extending from the tripod tip to the base in a tripod configuration, and means 22, 24 at the base to continuously vary the length of each cable to vary its length.

Abstract: A head assembly for a manipulator has an inner part, an intermediate part, and an outer part adapted to hold a tool. The inner part can rotate on the manipulator about an inner axis defined thereby whereas the intermediate part rotates on the inner part about an intermediate axis defined by the inner part and intersecting the inner axis at an acute intermediate angle open away from the inner part. The outer part rotates on the intermediate part about an outer axis defined by the intermediate part and intersection the intermediate axis at a point offset from the inner axis and at an acute outer angle open away from the intermediate part. In no position of head assembly can any of the pivot axes--inner, intermediate, or outer--be coaxial with any of the other pivot axes. The intermediate pivot and drive includes a shaft extending along the inner axis from the inner part. In addition there is another shaft extending along the intermediate axis in the intermediate part and gears rotationally couple the shafts.

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: An industrial robot (15) is disclosed which has a flexible frame or body and is constructed so as to have six degrees of freedom and a work envelope which is substantially free of dead spaces. A free end of the body includes an end effector (27) for performing a task. To determine the position of the end effector (27) within the work envelope and to displace the end effector (27) according to the task requirements, a system is provided in which embedded microprocessors are interconnected with a signal transmitter (ST) located at the body free end (23) and receivers (R1, R2, R3) fixed in their positions on the stationary base (16) of the body. Continual monitoring of the end effector location is possible and adjustment in position may be made immediately. A remote computer linked to the microprocessors provides instructions for the operation and displacement of the robot.

Abstract: A head assembly for a manipulator has, as is known, an inner part, an intermediate part, and an outer part having a holder adapted to carry a tool. An inner pivot and drive unit rotates the inner part on the manipulator about an inner axis defined thereby. An intermediate pivot and drive unit rotates the intermediate part on the inner part about an intermediate axis defined by the inner part and intersecting the inner axis at an intermediate angle not equal to 90.degree. and open away from the inner part. An outer pivot and drive unit rotates the outer part on the intermediate part about an outer axis defined by the intermediate part and intersecting the intermediate axis at a point and at an outer angle not equal to 180.degree. and open away from the intermediate part. The outer drive and pivot unit includes a stepdown transmission in the intermediate part and normally also another such stepdown transmission in the inner part.

Abstract: An articulated robot has a fixing stand for supporting the robot body and a swivel stand which is rotatably disposed on the fixing stand. An upper arm which is rotatably connected at one end to the swivel stand has a forearm rotatably connected to its other end. The forearm has an operating part at one end and includes a plurality of wrists which are sequentially connected between the operating part and the upper arm. The wrists are directly driven by a plurality of drive motors mounted within the plurality of wrists and along the central axis of the forearm.

Abstract: The disclosure relates to a tool changing mechanism comprising an arm with hands at each end thereof having means to pick up both boring and turning tools. The arm is actuated by hydraulic rotary actuators and the tools are gripped by air operated fingers. A turret assembly is equipped with a boring tool holder and a turning tool holder for the acceptance of tools changed by the changing mechanism.A magazine holds replacement boring bars and turning tools until a tool change is required. An automatic tool lock-unlock mechanism is provided to lock the tools in cutting position.

Abstract: A safety device connected to an industrial robot and mounting a tool characterized by an arrangement including a first and second flange for stopping the robot in response to a predetermined axially applied force to the tool and a second arrangement including the second flange and a third flange for stopping the robot in response to a shear force being applied to the tool so that a tool is protected both against shear forces and axially applied thrust during a collision in operation or during programming of the robot.

Abstract: A casing stabbing apparatus which includes a derrick bracket subassembly for attachment to a brace of 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 manipulator device particularly adapted for deep-sea, submersible use utilizes a human-like arm and a novel shoulder arrangement mounted on a base through a base pivot. The manipulator is hydraulically powered and a hydraulic manifold forms a body of the shoulder arrangement and is situated adjacent an azimuth control actuator, an elbow control actuator and an upper arm control actuator all mounted to the body and rotatable with the body about the base pivot. The arm includes an upper arm swingably connected to the shoulder via the upper arm control actuator and a forearm swingably connected to the upper arm at an elbow joint and controlled by the elbow control actuator. A wrist assembly and appropriate actuators are mounted to a distal end of the forearm and a gripper assembly and associated actuators are connected to a distal end of the wrist assembly.

Abstract: Fuel handling apparatus for transporting fuel elements into and out of a nuclear reactor and transporting them within the reactor vessel extends through a penetration in the side of the reactor vessel. A lateral transport device carries the fuel elements laterally within the vessel and through the opening in the side of the vessel, and a reversible lifting device raises and lowers the fuel elements. In the preferred embodiment, the lifting device is supported by a pair of pivot arms.

Abstract: An industrial robot is disclosed which includes three primary drive units defining three separately controlled axes of movement, and an outer arm assembly having three additional drive units for providing three additional axes of movement. The three primary drive units each include an electrical motor which has its rotor and stator each coaxially disposed about the axis of movement, so as to eliminate the need for any torque converting drive train between the motor and output components. The three drive units of the outer arm assembly comprise three electrical motors, and these three motors are serially mounted, with the rotors and stators thereof being coaxially disposed about a common axis, and with the rotors being fixed to respective ones of three coaxially mounted tubular members, which serve to transmit movement to the workpiece engaging gripper of the robot.

Abstract: A manipulation arm mechanism for an industrial robot is provided with a pivotable arm in which a first shaft driven by a drive motor is carried for rotation about an axis extending in a longitudinal direction of the arm. The first shaft has secured to its front end a rear casing, on which a front casing is carried for rotation about an oblique axis slanted relative to the first shaft axis. A head mounting shaft capable of attaching thereto a working head such as, for example, a handling gripper is carried in the front casing to be rotable about an axis which extends in axial alignment with the first shaft axis only when the front casing is at a predetermined angular position about the oblique axis. Second and third shafts driven by respective drive motors pass through the first shaft and present into the rear casing their front ends, to which the front casing and the head mounting shaft are drivingly connected through gear trains respectively.

Abstract: An industrial robot device is disclosed which is equipped at a forward end of an arm with a work tool such as a cutting or a grinding tool, and in which there is provided a device such as a friction damper for suppressing sudden movement of the work tool in the direction of the normal displacement thereof towards and away from a workpiece. Damage to the work tool and workpiece due, for instance, to sudden changes of load, is thereby prevented.

Abstract: An industrial robot having a first arm pivotable about an axis and a second arm carried on one end of the first arm for pivot movement about an axis which is parallel to the pivot axis of the first arm. The second arm is composed of an arm body, which carries a rotary member rotatable about an axis normal to the pivot axis of the second arm. A twist body secured to one axial end of the rotary member carries a bend body rotatable about an oblique axis which is slanted with respect to the rotational axis of the rotary member, and the bend body carries a swivel body rotatable about an axis which is slanted with respect to the oblique axis. The twist body is formed at a portion radially offset from the rotational axis of the rotary member with an eccentric cylindrical portion, in which a first pair of shafts for transmitting rotational power respectively to the bend and swivel bodies are rotatably carried in approximately coaxial alignment with each other.

Abstract: An industrial robot is disclosed which is movable about six revolute axes, and which is modular in nature, to permit it to be configured to efficiently operate in a number of different applications. The robot includes a support stand defining a first primary axis, a waist which is rotatable about the first axis and which defines a second primary axis disposed perpendicular to the first axis, an inner arm fixed to the waist for rotation about the second axis, an outer arm fixed to the inner arm for relative rotation about a third primary axis, and a hand assembly mounted at the end of the outer arm. In addition, the outer arm includes a simplified drive arrangement composed of three concentric tubular members and respective drive motors, for moving the hand assembly of the robot about three additional axes of movement.

Abstract: An industrial robot includes a plurality of motors provided at an end of a hollow link, torque transmission units provided within said link for transmitting rotational torques of the plurality of motors, and rotary units for a plurality of independent rotational motions in response to each of the motors. The rotary units provided at the other end of the hollow link and are drivingly connected to the torque transmission units.The rotary units comprise a first rotary device having a first box and rotating about an axis of the hollow link, a second rotary device having a second box and rotating about a rotary axis which obliquely intersects with a rotary axis of the first device, and a third rotary device having an output shaft and rotating about a rotary axis which intersects obliquely with the rotary axis of the second rotary device.

Abstract: A wrist mechanism interposed between the robot arm (20) of an industrial robot and a robot hand, comprising: an outer wrist (34) joined to the free end of the robot arm (20); an inner wrist (36) pivotally supported by bearings (100, 102) within the outer wrist (34) and adapted to be pivoted by a driving force transmitted thereto through the robot arm (20); a robot hand holding part (38) supported by bearings (104, 106) within the inner wrist (36) and adapted to be turned by a rotative force transmitted thereto from the outside of the inner wrist (36) coaxially with the driving force; a bevel gear mechanism set having bevel gears (96a, 96b) and disposed within the inner wrist (36) to transmit the rotative force to the robot hand holding part (38); and a reduction gear (94) provided within the inner wrist (36) to transmit the rotative force at a reduced revolving rate to the driving bevel gear (96a) of the bevel gear mechanism.

Abstract: A robot toy includes a movable arm which is constituted of alternatingly interconnected three first members and three second members. The first member has a first rotating unit for moving the adjacent second member about its longitudinal axis, and the second member has a second rotating unit for rotating the first member about an axis perpendicular to the longitudinal axis. The transmission system for transmitting the output motion of a motor to the arm includes a plurality of transmission cords which are made of metal wires twisted together for the transmission along long transmission lines.

Abstract: A flexible wrist mechanism for industrial robots, manipulators and the like, the wrist mechanism having in series two or more wrist articulates each consisting of at least a first wrist element located on a drive side and a second wrist element located on a driven side swingably relative to the first wrist element, characterized in that the wrist mechanism includes a coupling shaft disposed perpendicular to the axes of the first and second wrist elements and connecting the first and second elements pivotally relative to each other; a reducer interposed between the second wrist element and the coupling shaft to restrict the pivoting angle of the second wrist element relative to the first wrist element; and a rotation transfer mechanism rotationally connecting the coupling shafts of adjacent wrist articulates.

Abstract: A manipulator arm consisting of a plurality of annuli joined together by lengths of tubing having circumferential corrugations, two longitudinal webs extending the length of the manipulator arm and diametrically spaced with respect to the annuli, the webs being adapted to be flexible in a first plane but stiff in a second plane at right angles to the second plane, and so positioned that the first planes of the webs are coincident thereby to render the manipulator arm flexible in the first plane but stiff in the second plane, and means for causing the manipulator arm to flex in the first plane.

Abstract: A joint type robot comprises a fixed bed, a swivel base on the fixed bed, a motor base on the swivel base, an upper arm capable of elevating on the motor base, a front arm capable of elevating at the tip of the upper arm, a wrist at the tip of the front arm, and so forth. The upper arm extends rearward beyond the center axis of rotation of its elevating motion. The rearwardly extending portion can enter a notch of the motor base. A driving motor for turning the swivel base is disposed at a position deviated from the center axis of rotation and in parallel with the center axis of rotation. The pair of driving motors for the upper and front arms are mounted on the motor base parallel to each other yet oriented in opposite directions to keep the robot as small as possible. The wrist driving motors are mounted on the upper arm in similar fashion. All the features of the robot are designed to keep the robot as small and as light as possible.

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: A robot assembly includes a support for mounting at least two arm portions and a wrist portion about an upright axis. The wrist has three axes of movement that are mutually perpendicular, and they are controlled by a single motor through an arrangement of electromagnetic clutches and gears so that one motor controls movement about all three axes of movement of the wrist. Additionally, gear drives are used for other movements on the robot arm to provide movement about seven independent axes in the arrangement shown with only two drive motors.

Abstract: A multilink-type robot includes an arm support pivotably mounted on a base for angular movement about a vertical axis, the arm support having a pair of side support ledges extending upwardly with a U-shaped recess defined therebetween and extending substantially the entire length of the arm support, a first shaft extending across the recess and having opposite ends rotatably supported on the support ledges, a second shaft rotatably supported on the arm support in coaxial relation to the first shaft for relative rotation with respect to the first shaft, a first arm having one end fixed to the first shaft, a third shaft rotatably supported on an opposite end of the first arm in parallel relation to a first shaft, first rotation transmission for transmitting rotation of the second shaft to the third shaft, a second arm having one end fixed to the third shaft, a fourth shaft rotatably supported on an opposite end of the second arm in parallel relation to the third shaft, a wrist unit fixed to the fourth shaft, an

Abstract: A system for automatically inserting the leads of electrical components into circuit boards is disclosed. In the preferred embodiment, an electrical component is acquired by the robot. The leads of the component have been trimmed and preformed such that they are substantially parallel with respect to each other with the leads differing in length. The robot positions the component at a fixed location relative to the axis of the robot and within the view of an optical sensor such as a TV camera. The sensor determines the location of each of the leads relative to a fixed location. A first rotary motion rotates the component about a selected axis of the robot through a predetermined angle and a second measurement is made. A second rotation positions the component 180.degree. from the original position and a third measurement is made.