Abstract: Embodiments include integrated robotic sample transfer devices and components thereof which are used for reliably and accurately transferring small samples of material from one registered position to another registered position. Such transfers of material may be carried out by a single pin tool or an array of pin tools of a pin tool head assembly of robotic sample transfer devices. Some embodiments also include automated cleaning of the pin tools used to transfer the sample material. Some embodiments are fully integrated units having internal fluid supply and waste tanks, vacuum source, fluid pumps, controllers and user interface devices.

Abstract: Disclosed herein are embodiments of an articulated robot wrist. One embodiment comprises a first body comprising first and second ends, the first end being for mounting on a robot component which is rotatable around a first axis; a second body comprising first and second ends, the first end being rotatably mounted on said second end of said first body around a second axis inclined with respect to said first axis; and a third body comprising a first and a second end, the first end being rotatably mounted on said second end of said second body around a third axis inclined with respect to said second axis. The first and third axes form an angle substantially of 90° with respect to said second axis, and wherein in at least one position of said robot wrist said first and third axes are substantially aligned with each other.

Abstract: An apparatus applies a wear coating on the interior surface of conduits, particularly conduit elbows, in which the weld head applying a weld bead forming the wear coating is supported by a wheel engaging the bottom surface of the conduit and interconnected with a push/pull cart mounted on a linear support frame exteriorly of the conduit by a plurality of linkage elements. Each of the head element and the linkage elements include a centralizing joint having a pair of transversely opposing rollers that engage the lateral sides of the conduit to maintain a consistent positioning of the welding arm at the distal end of the apparatus. The welding arm includes a three-axis adjustment for the welding torch tip for accurate location thereof within the conduit. Positional adjustment of the welding torch tip is provided by independent electric motors associated with each pivot axis in the welding arm.

Abstract: A robot teach tool is provided that enables automatic teaching of pick and place positions for a robot. The automated robot teach tool obviates the need for manual operation of the robot during the teaching. The result is an automated process that is much faster, more accurate, more repeatable and less taxing on a robot operator.

Abstract: A robotic arm position controlling device includes a number of gyroscope sensors, an A/D convertor electrically connected to the gyroscope sensors, a storage connected to the A/D convertor and a processor. The gyroscope sensors each is configured for detecting and measuring movements of an arm segment and generating an analog signal associated with the detected movement of the arm segment. The A/D convertor is configured to convert the analog signal to digital signal. The storage is configured to store the converted digital signal and position information associated with predetermined positions of the arm segments. The processor is configured to determine the position of each of the arm segments based upon the converted digital, and determine of the position of each of the arm segments is deviated from the corresponding predetermined position, and control the driving motors to move the deviated arm segment to the predetermined position.

Abstract: An exemplary manipulator of a robot includes a fastening seat defining two guiding grooves, a driving mechanism disposed on the fastening seat, two transmitting plates respectively received in the two guiding grooves and cooperating with the driving mechanism, and two detecting bars each fixedly connecting with a corresponding transmitting plate. A detecting pin is fixed on each of the detecting bars. Under a driving action of the driving mechanism on the transmitting plates, the transmitting plates are activated to slide in the guiding grooves to cause the detecting bars to move close to or apart from each other, whereby a distance between the two detecting pins is automatically regulated.

Abstract: A position control method for controlling a position of a movable portion, includes: performing control of allowing the movable portion to approach a predetermined position by moving the movable portion; and performing control of moving the movable portion to the predetermined position by moving the movable portion and detecting a relative position of the movable portion with respect to the predetermined position by using an imaging unit.

Abstract: A robotic surgical device for using in laparoscopic surgery, including two robotic arms, each having at least six joints providing a total of fourteen degrees of movement that accurately reproduce the movements of a human torso complete with arms.

Abstract: A method is disclosed for generating a sequential pattern of motor control instructions under control of a microcontroller for the purpose of controlling a motor. A pattern of motor control instructions is stored in a memory. A timing circuit is operable to generate a periodic output sync signal. The microcontroller is operable to initiate a sequential Read operation of the memory so as to cause sequential reading and output of motor control instructions from the memory in a predetermined order. Each of the read motor control instructions is then stored in a pre-load buffer after output from the memory. The contents of the pre-load buffer is then transferred to an output buffer in synchronization with the output sync signal, wherein the output of motor control instructions from the memory is not required to be periodic.

Abstract: A tire rotating robot used to rotate the tires of a vehicle. The robot can remove two tires sequentially without having a human to manually lift the tires. The robot for rotating tires comprises of a mobile base, a body connected to the base, a pivotally mounted two-position rotating beam connected to the body, two arm guide assemblies displaced within a channel of the beam, a motor that powers the robot, and an interface that controls the robot.

Abstract: A robotic surgical device for using in laparoscopic surgery, including two robotic arms, each having at least six joints providing a total of fourteen degrees of movement that accurately reproduce the movements of a human torso complete with arms.

Abstract: Disclosed is a SCARA robot having a robot body, a mount movable vertically of the robot body, a first arm having one end operatively connected to the mount such that the first arm may turningly move in a horizontal plane, a second arm having one end operatively connected to the opposite end of the first arm such that the second arm may turningly move in a horizontal plane, and an R shaft rotatably mounted on the free end of the second arm, wherein stepping motors 12, 22, 32 and 42 are provided to move the first and second arms, the R-shaft and the mount respectively, and encoders are provided to count the stepping pulses of the stepping motors. The counted pulses are feedbacked to CPU1 so that the CPU1 may correct errors when the errors are detected between the counted number of pulses and a required number of pulses. When the errors are detected, the stepping motors may be stopped and the errors may be indicated.

Abstract: Disclosed is a robot having multi-joint arms movable in a horizontal plane, which is mechanically compact as well as small sized and operated with high precision and a minimum output of drive sources, substantially comprising a robot body (1), a cylindrical mount (2) movable vertically of the robot body through a guide means (3) and a slider means (4), a vertical threaded shaft (6) rotatably journaled in the robot body and operatively connected to the cylindrical mount, the vertical threaded shaft being rotated by a first drive motor (5) to vertically move the cylindrical mount therealong, a first arm (9) having one end operatively connected to the cylindrical mount so as to be turningly moved in a horizontal plane by a second drive motor (12), a second arm (10) having one end operatively connected to the opposite end of the first arm so as to be turningly moved in a horizontal plane by a third drive motor (17), and a control R shaft (11) rotatably mounted on a free end of the second arm so as to be rotated b

Abstract: The disclosed press processing method and device can chamfer work, for instance by pressing a chamfering tool against the work at a predetermined contact pressure, without detecting the pressing force of the chamfering tool against the work or without feedbacking the detected pressing force to a robot controller. The press processing device used being mounted on automatic mechanical processing means such a multi-joint robot, comprises: a processing section (e.g., grinder) (11) held by a support body (12) in such a way that pressure caused by a dead load of the processing section is not applied to a processing portion (e.g. blade) (11d) of the processing section (11); a constant torque applying section (e.g., servomotor) (16) for pivoting the processing section in a predetermined direction at a constant torque; and a mounting member (20) for mounting the constant torque applying section to a robot arm (R).

Abstract: A rate mode robotic control system in which displacement of a hand-control element from a null position generates a robotic control signal to command acceleration and/or velocity of a controlled element. A force generator urges the hand-control element to the null position with a force proportional to the displacement of the hand-control element from the null position. A reflected force feedback signal increases or decreases the force urging the hand-control to the null position as a function of the resistance encountered by the controlled element.

Abstract: A gearless, direct drive, multiple axes rotary head for a machine tool is provided which includes a spindle mounted to the rotary head for rotation thereon about multiple axes and a plurality of motors coupled to the head and spindle for directly driving and controlling the rotation the head and spindle about the multiple axes respectively.

Abstract: A sliding mode control method is provided capable of improving the following ability of a control system with respect to a command at the time of change in the operating condition of a machine, and preventing vibration which tends to occur by the action of a spring element of the machine at the time of change in the operating condition. The processor of a servo circuit derives position deviation (.epsilon.) and speed deviation (.epsilon.) based on a command position (.theta.r) and an actual position (.theta.), estimates an torsion amount (.epsilon.n) and torsion speed (.epsilon.n) by effecting observer processing (Steps 100 to 101), and derives a switching variable (s) (102).

Abstract: A digitally controlled industrial robot comprises a set of unitized and integrated joint drive modules which can be assembled in series to form an arm. The joints are of two basic types, pitch joints and roll joints, with the roll joints providing rotation about the longitudinal axis of the manipulator and the pitch joints providing rotation about axes which are substantially perpendicular to and offset from the roll joint axes. Any number of joints may be assembled to comprise the manipulator, permitting the configuration of a kinematically redundant manipulator. A servocontrol derives feedback from sensing the motive force on a driven member and compensates the drive signal accordingly. More particularly, the torque exerted on each roll and pitch joint is measured and used for feedback to provide stability and optimum bandwidth for the servomechanism.

Abstract: Plural article transfer mechanisms are operated in timed sequence by an electronic control synchronized to a main drive shaft. Each article transfer mechanism transfers articles from a dead plate to a moving conveyor. An extensible-retractable pusher arm engages, moves and releases the articles between 90.degree. positions under control of a fluid motor mounted on a turntable. Operation of the fluid motor is based on rotary alignment of a pair of turntable ports with a pair of fluid supply channels in a turntable drive body. The turntable is stepped in rotary increments between 90.degree. positions by an electric stepping motor. The angular speed profile of the pusher arm between the 90.degree. positions is governed by a programmed electronic control, including a PROM, which drives the stepping motor. An adjustable finger clip assembly is snap-fitted on the pusher arm and provided with a handle for ease of replacement.

Abstract: An object handling device successively transfers objects such as semiconductor wafers. The object handling device includes first and second collapsible arm units having hands for holding objects, a first drive shaft for selectively extending and contracting the first arm unit, a second drive shaft for selectively extending and contracting the second arm unit, a third drive shaft for turning the first and second arm units while keeping the first and second arm units in a relative positional relationship, the first, second, and third drive shafts being disposed coaxially with each other, and an actuator mechanism for angularly moving the first, second, and third drive shafts about their own axes independently of each other.

Abstract: An apparatus for rotating a wrist shaft of a robot comprising an indexing plate which is rotated by a motor through a friction coupling, a roller which is pressed against the indexing plate and which is disengaged from recesses in the indexing plate by an air cylinder. The motor and air cylinder are controlled by a timing mechanism which is responsive to indexing signals and to signals from a series of proximity switches, there being one proximity switch actuable at each of the several indexing positions. Indexing positions are selected by transmitting indexing signals to the timing mechanism. Upon receipt of an indexing signal requiring movement of the wrist shaft, the timing mechanism actuates the air cylinder, releasing the indexing plate. Immediately thereafter, it starts the motor. In the case of a single step indexing operation, the roller is released to engage the indexing plate after a predetermined time interval, and the power to the motor is thereafter cut off.

Abstract: A digitally controlled industrial robot comprises a set of unitized and integrated joint drive modules which can be assembled in series to form an arm. The joints are of two basic types, pitch joints and roll joints, with the roll joints providing rotation about the longitudinal axis of the manipulator and the pitch joints providing rotation about axes which are substantially perpendicular to and offset from the roll joint axes. Any number of joints may be assembled to comprise the manipulator, permitting the configuration of a kinematically redundant manipulator. A servocontrol derives feedback from sensing the motive force on a driven member and compensates the drive signal accordingly. More particularly, the torque exerted on each roll and pitch joint is measured and used for feedback to provide stability and optimum bandwidth for the servomechanism.

Abstract: A dual forearmed robotic elbow configuration comprises a main arm having a double elbow from which two coplanar forearms depend, two actuators carried in the double elbow for moving the forearms, and separate, independent end effectors, operated by a cable carried from the main arm through the elbow, is attached to the distal end of each forearm. Coiling the cables around the actuators prevents bending or kinking when the forearms are rotated 360 degrees. The end effectors can have similar or different capabilities. Actuator cannisters within the dual elbow are modular for rapid replacement or maintenance. Coarse and fine resolver transducers within the actuators provide accurate position referencing information.

Abstract: Plural article transfer mechanisms are operated in timed sequence by an electronic control synchronized to a main drive shaft. Each article transfer mechanism transfers articles from a dead plate to a moving conveyor. An extensible-retractable pusher arm engages, moves and releases the articles between 90.degree. positions under control of a fluid motor mounted on a turntable. Operation of the fluid motor is based on rotary alignment of a pair of turntable ports with a pair of fluid supply channels in a turntable drive body. The turntable is stepped in rotary increments between 90.degree. positions by an electric stepping motor. The angular speed profile of the pusher arm between the 90.degree. positions is governed by a programmed electronic control, including a PROM, which drives the stepping motor. An adjustable finger clip assembly is snap-fitted on the pusher arm and provided with a handle for ease of replacement.

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

Abstract: A pulse width moduation (PWM) scheme provides for digital implementation of robot control commands. For this purpose, it provides time stabilized current sampling synchronized to the sampling frequency of the position and velocity loops in the robot control. The PWM scheme enables accurate motor current measurement through usage of a single current sense resistor independent of the number of legs in a power amplifier configuration. This scheme permits commercially available, low cost, power blocks to be used for implementation of robot control system power amplifiers.The PWM scheme is cost effectively implemented in a semi-custom large scale integrated (LSI) circuit which provides the digital interface between a torque loop microprocessor and the drive circuitry for the power handling devices used to apply voltage to the robot axis actuator. Interface and control for three axes is provided by a single LSI device.

Abstract: A direct-teaching playback type polishing robot comprising a first arm and a second arm, a polishing tool suspended from a free end of said second arm, horizontal high-lead ball screws having nuts connected to said arms, respectively, and a servo-motor and an encoder mounted at a free end of threaded shaft of each of said ball screws in such a manner that rotation of said servo-motor advancing the corresponding nut to swing the corresponding arm independently of the other arm.

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 robotic system includes two joints moving a common load-bearing member along a path for positioning a load. Each joint includes a linear electric motor and a feedback loop, the latter driving the motor accurately in response to a commanded position signal, and a true position signal provided by sensor apparatus disposed alongside a track of each linear motor. Cross-coupling circuitry connects with the sensor apparatus of each joint to produce signals representing differences in positional error and in speed of the joints. The signals are injected into the feedback loops of the joints to effect a shift of power between the joints to synchronize their travel. Window comparator circuitry is employed for introduction of variable gains to the feedback loops for values of positional error and velocity which are greater than reference values in a window.

Abstract: A multi-articulated robot for providing a plurality of articulations. The robot has a plurality of articulation units, with each unit including a drive and has connecting portions disposed at both ends of the drive for connection with the other articulation units.

Abstract: A device for moving objects about the inside of a closed container includes a grasping mechanism for grasping and releasing objects and an operating mechanism for operating the grasping mechanism and for moving the grasping mechanism about the inside of the container. The operating mechanism includes a pair of arm bodies each of which slidably move through a wall in the container along a linear pathway. As a result of the linear movement of the arm bodies, close tolerance seals can be used to seal the opening sufficiently to allow sliding movement without significantly disturbing the atomspheric and temperature conditions in the container. At least one of the arm bodies is composed of a pair of arm body portions, each portion having a surface slidable with respect to the other portion. The outer ends of the arm bodies positioned outside of the container are suitably coupled to a driver for moving the arm bodies along a linear pathway.

Abstract: Apparatus for positioning a probe carried by an elongated flexible carrier includes a cantilevered telescoping extensible boom. A sprocketed tractor feed mounted at the distal end of the boom engages apertures in the carrier for feeding it and deflecting it from the boom in a direction substantially perpendicular to the longitudinal axis thereof. The tractor feed is mounted for rotational movement about the longitudinal axis of the boom. A withdrawal device engages the carrier adjacent to the supported end of the boom for reeling the carrier up into a cartridge. Extension and retraction of the boom is effected by a rack and pinion mechanism. Rotary resolvers measure the movement of the boom, the movement of the carrier with respect to the boom and the rotary movement of the tractor feed for providing signals to an associated microcomputer, accurately to detect and control the position of the probe. The microcomputer additionally provides on-line visualization of sludge profilometry and topography.

Abstract: A robot arm preferably has at least shoulder, elbow and wrist joints with a lever arm extending between each of the joints. Individually powered modules are buit into each of the lever arms adjacent each joint to control the mutual attitude between the lever arm end and its associated joint. Thus, each of the lever arms between the shoulder and elbow and between the elbow and the wrist, respectively, has two of the modules. Each individual module is operated to adjust the attitude of the lever arm relative to the adjacent joint. Or stated another way, two of the module means are operated to adjust the attitude between two adjacent lever arms.

Abstract: A mechanical handling apparatus for point to point movement has utilization grippers driven from point to point by an arm assembly comprising a piston and cylinder arrangement in which the piston is in force balance until activated by a microprocessor. The microprocessor controls the energization of an electrical solenoid of each of a plurality of valves. The grippers are carried by a load beam, supported by bearings and a selectively energizable brake for resisting motion of the load beam is mounted on a lead screw. The lead screw is driven by a stepper motor but is connected with a microprocessor, and the position of the load beam and of the brake is determined by a transducer. In operation, the microprocessor permits energization of the piston to rapidly drive the load beam and hence the grippers toward a desired point within the capture range of the lead screw. The brake is applied to stop the load beam and final, accurate positioning of the grippers is performed by energizing the stepper motor.

Abstract: A manipulator apparatus comprises an elongated member having a number of arm sections interconnected by rotary actuators and supported by a vertical member rotatably mounted on a console. The other end of the elongated member terminates in a terminal motion actuator adapted to support an article handling member. Each rotary actuator comprises a stepping motor coupled to a harmonic drive device, wherein control pulses fed into the stepping motor will initiate motion which is reduced by the harmonic drive device and then imparted to the respective arm section. The vertical member is similarly controlled. The terminal motion actuator comprises a stepping motor rotatably supported by a rotary actuator comprising a combination of a stepping motor and a harmonic drive device. The terminal motion actuator has mounting means for supporting article handling members. The vertical member is rotatably supported in such manner that free play is totally eliminated.

Abstract: A remote manipulator for a robotic system has a plurality of intercoupled manipulator links and a principal manipulator drive unit coupled to manipulate the remote position of an end-effector supported by said links in response to a manipulator control signal. Coarse adjustment of the end effector is refined by a precision control subsystem which augments the principal manipulator to achieve a "control-in-the-small" robotic manipulator system. The augmenting precision-achieving subsystem includes a coupling mechanism, coupled with one of the links, for establishing the position of one of the links relative to another link, and a precision adjustment device, associated with the coupling mechanisms for adjusting the position of the one link relative to another link as established by the coupling mechanism, independently of the action of the principal manipulator drive unit and effectively without bearing the load supported by the one of said links.

Abstract: A robot arm apparatus is provided for inspecting and/or maintaining an interior of a steam generator which has an outside wall and a port for accessing the interior of the steam generator. The robot arm apparatus includes a flexible movable conduit for conveying inspection and/or maintenance apparatus from outside the steam generator to the interior of the steam generator. The flexible conduit has a terminal working end which is translated into and around the interior of the steam generator. Three motors located outside the steam generator are employed for moving the terminal working end inside the steam generator in "x", "y", and "z" directions, respectively. Commonly conducted inspection and maintenance operations include visual inspection for damaged areas, water jet lancing for cleaning sludge deposits, core boring for obtaining sludge deposits, and scrubbing of internal parts.