Abstract: A mechanical joint includes a mechanism for effecting pitch and yaw, the effecting mechanism being attached to a housing support, a yaw drive mechanism slidably engaging the housing support, a pitch drive mechanism slidably engaging the housing support and a mechanism to actuate the yaw drive mechanism and the pitch drive mechanism, In accordance with the present invention, a unitary guide mechanism attached to the housing stabilizes movement of the yaw drive mechanism and the pitch drive mechanism by receiving at least a portion of the yaw drive mechanism and the pitch drive mechanism.

Abstract: A wrist unit for an industrial robot includes an arm member with a motor installed therein and having a pair of integral guide portions. Holes are formed in respective guide portions, the holes being coaxial. A wrist member having receiving portions is disposed in a space formed between the guide portions. Two intermediate members are attached by fasteners to the wrist member and project into bearings mounted in the holes. A pair of cover members are fastened on opposite sides of the guide portions in order to retain the bearings.

Abstract: A roller type hemming apparatus for hemming a workpiece having a peripheral bent portion includes a hem roller rotated under pressure along the bent portion of the workpiece, a hem roller support adapted for displaceably supporting the hem roller, and a robot hand adapted for shifting the hem roller through the hem roller support while pressing the hem roller on the bent portion of the workpiece.

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: An actuator for a joint comprises a bladder-shaped chamber 5 whose one end is secured to an arm 2 by a mounting 6, whilst a bundle of fibres 7 extend from the other end of the chamber member 5 to a junction 8 on another arm 3. The rear wall 9 of the chamber member 5 is formed from woven bi-directional fibres 10 whilst the outer wall is defined by an array of high tensile fibres 11, at least some of which extend from the fibre bundle 7. The fibres 7, 10 and 11 are embedded in elastic material. When a pneumatic or hydraulic fluid is pumped through an inlet 12 to the chamber member 5, the latter expands and the fibres 11 bow outwardly, thus pulling on the fibres 7 and raising the arm 3, with the respect to the arm 2, to lift a weight 13.

Abstract: A supporting device comprising a first member which supports a springy means for resiliently supporting a second member. The supporting device comprises a detection means for detecting displacement of the springy means with respect to the first member in accordance with the movement of the second member and a biasing means which applies a force to the springy means from the same direction as or from a direction opposite to that of the displacement for changing the elasticity of the springy means in accordance with the movement of the second member.

Abstract: An industrial robot includes a a hollow arm extending from a robot base, a wrist base mounted on a distal end of the hollow arm for rotation about a longitudinal axis of the hollow arm, a wrist mounted on a distal end of the wrist base for swinging movement about an axis transverse to the longitudinal axis, and a wrist socket mounted on a distal end of the wrist for rotation about an axis parallel to the longitudinal axis. The industrial robot also includes first, second, and third actuators such as motors. The first actuator is fixedly mounted on a rear end of the arm remotely from the wrist base and produces rotational drive forces that are transmitted to rotate the wrist base. The second actuator is fixedly mounted on the rear end of the arm and produces rotational drive forces that are transmitted to swing the wrist. The third actuator is fixedly mounted on the wrist and produces rotational drive forces that are transmitted to rotate the wrist socket.

Abstract: An apparatus for positioning an end-effector comprising a multi-bar linkage drive mechanism. The drive mechanism has a base structure of a movable arm structure. The moveable arm structure has four arms arranged in a general parallelogram profile with a center of gravity at a main shaft located at a connection of two of the arms. Two of the arms have energizeable electromagnetic coils and the base structure has permanent magnets for moving the arms. Analog and/or digital position sensors can be used. Dynamic balancing can be provided to produce reactionless ultra-high speed X-Y motion. A torque cancellation motor for cancellation of Z-axis moments produced by these coils can be provided. A Z-direction actuator can also be provided.

Abstract: A wrist for an articulated robot has an operative member which is rotatable about three mutually perpendicular axes and three motor units each of which can cause the operative member to rotate about only one of the three axes without causing any rotation about the other axes.

Abstract: A five degree-of-freedom positioning device includes a manipulator shaft for manipulating an object to a desired position and orientation. Two sets of stator permanent magnets are spaced along an axis of the manipulator and arranged in parallel planes transverse to the manipulator axis so as to provide therebetween magnetic fields substantially extending along the axis. Interposed between the sets of permanent magnets are axially spaced sets of electrically energizable coils also arranged in parallel transverse planes. The coils are energized to produce coil fields that interact with the magnetic fields of the permanent magnets for generating the Lorentz force which acts on the manipulator shaft to effect two translational movements of the manipulator shaft along two mutually orthogonal axes perpendicular to the manipulator shaft axis and three rotational movements about the three mutually orthogonal axes including the manipulator shaft axis.

Abstract: An apparatus for supporting a machining tool on a robot arm is disclosed having first and second support members with the second support member attached to the first support member by torsion bar elements so as to be movable with respect to the first member about an axis in a single degree of freedom. The first support member is attached to the end of the robot arm and the machining tool is attached to the second support member.The torsion bar element interconnecting the first and second support members has end portions larger than a connecting portion extending between them. One end portion is fixedly attached to one of the support members and the other end portion is fixedly attached to the other support member. The torsion bar elements are generally cylindrical in configuration and are dimensioned such that the diameters of the end portions are between seven and ten times the diameter of the connecting portion.

Abstract: A bevel gear unit comprising a bevel gear (11), a ball bearing (B.sub.1) coaxially mounted on the shaft of the bevel gear (11) and in contact with the back surface (17) thereof, a double spacer including an inner race spacer (12) and an outer race spacer (13) and mounted on the shaft of the bevel gear (11) behind the ball bearing (B.sub.1), ball bearings (B.sub.2, B.sub.3) mounted on the shaft of the bevel gear (11) behind the double spacer, and a bearing nut (15) screwed onto a threaded portion of the shaft of the bevel gear (11) behind the ball bearings (B.sub.2, B.sub.3). The axial length (l.sub.1) of the inner race spacer (12) is made smaller than the axial length (l.sub.2) of the outer race spacer (13) by a preloading allowance (.delta.), and the outer race spacer (13) is provided with threaded holes (t.sub.1) in the rear surface (f.sub.1) thereof.

Abstract: This invention is an articulatable mechanism applicable to a wide variety of situations. The device provides a rotational component as well as a pivotal component providing practical propulsion in polar coordinates instead of customary linear transmission. This device could be used for steering propulsion devices by controlling the orientation and direction of a propeller shaft or rocket exhaust. Another application of this device might be orienting and directing devices such as fire hoses and lasers.

Abstract: In order to obviate the need for exchanging tools, e.g. tongs, together with their drive mechanisms, the quick-action coupling device (4) is provided between a toolholder (3) and the tool (5) and consists essentially of two coupling half shells (9, 10), one of which is fixedly mounted on a rotary spindle (7) supported in the toolholder (3) and drivable if required, and the other of which is fixedly arranged at the toolhead (11); these half shells are radially coupled and then locked. The locking device (21) is designed so that, in the unlocked condition, the rotary drive mechanism (6) of the rotary spindle (7) is blocked. The quick-action coupling device (4) also permits a linear drive action (8, 19) for opening and closing tongs (5a, 5b) or the like, and is capable of transmitting high bending moments and/or torques with simultaneously high transverse and longitudinal forces.

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 robotic structure having a low mass, capable of providing seven degrees of freedom, and movable in a hemispherical workspace. The robotic structure includes several platforms connected by actuatable longitudinal members and movable joints made of intersecting or interwoven wire members.

Abstract: A spray end effector for spray painting internal cavities of complex shapes comprising a first elongated arm having an inboard end with attachment means for coupling to a robot and also having an outboard end; a second elongated arm having an inboard end fixedly coupled to the outboard end of the first arm and also having an outboard end; a third elongated arm having an inboard end pivotally coupled to the outboard end of the second arm and also having an outboard end with a rod for supporting a spray gun rotationally coupled with respect thereto; a first air motor having a shaft rotatable about its axis located within the second arm for rotating a jack screw and longitudinally driving a threaded housing to effect the pivotal movement of the third arm with respect to the second arm; a second air motor having a shaft rotatable about its axis located within the third arm for rotating a speed reducer to effect the rotational movement of the rod with respect to the third arm; and means to effect the proper rotati

Abstract: An automatic tool-exchanging device can be set on a robot for exchanging tools. It mainly comprises an upper and lower assemblies, and an engaging mechanism. The engaging mechanism includes a cam, which is to be driven with a double-acting pneumatic cylinder assembly. When the double-acting pneumatic cylinder is turned on, the upper and lower assemblies will be engaged together and generate a self-lock effect for safety; when the double-acting pneumatic cylinder is turned off, the two assemblies will be disengaged from each other.

Abstract: A manipulator for material removing tools and their adapters, particularly in machine tools and matching centers, has a horizontal rail for a reciprocable carrier which supports an elongated vertical holder which is movable up and down and the lower end of which carries one end of a horizontal link. The link is turnable relative to the holder about a vertical axis and its other end supports an arm which is turnable about a vertical axis and supports two tongs. The tongs are angularly offset relative to each other by 180.degree. about the horizontal axis and at least one jaw of each tongs is movable relative to the other arm in the direction of the horizontal axis. The movements of the carrier, holder, link, arm and movable jaws are regulated by numerical controls.

Abstract: An articulated device includes two plates (PI, PS) interconnected by six k members (OLij) disposed in a closed latticework structure, and a control assembly for controlling the relative positions of these two plates. Each link member is of substantially constant length and the control assembly also includes six slider members (OCij) respectively connected to the six link members (OLij) and to the bottom plate (PI), each slider member being suitable for sliding relative to the bottom plate (PI) along a predetermined sliding direction under drive from a motor (MOTij, TFij).

Abstract: A wrist mechanism for an industrial robot of the type wherein wrist elements make rocking, rocking and revolving motions successively from the driving side to the driven side, which is reduced in quantity of motion transmitting parts and is small in size and light in weight but high in rigidity. The wrist mechanism comprises reduction gears provided at end portions on the joint side of driving side wrist elements which are individually provided in pair and cooperate with driven side wrist elements to constitute wrist joints to be operated by the reduction gears.

Abstract: A drive mechanism (62) for driving a mechanical joint (10) that includes first and second gimbal assemblies (14, 16) rotatably mounted within the interior of a support (18) and includes a decoupling mechanism (70, 72) in slidable engagement with the support (18) for effecting movement of the joint (10) in a compound yaw and pitch motion includes a yaw drive member (66) having a gear surface (82) in engagement with a drive shaft (84) having a beveled gear end portion (80) arranged to engage the gear surface (82). A pitch drive member (68) includes a gear surface (78) in engagement with a bevel gear end portion (76) of a second drive shaft (74). Both yaw and pitch drive members (66, 68) are pivotally connected to the decoupling mechanism (70, 72).

Abstract: A two arm robot for selectively manipulating a workpiece comprising an elongated cross beam assembly having an elongated axis extending between opposed ends, a frame assembly supported by the cross beam assembly for selective linear movement parallel to Y and Z axes and for selective pivotal movement about the elongated axis, the elongated axis being parallel to the X axis and the X, Y and Z axis being orthogonal, a pair of arm assemblies supported by the cross beam assembly for selective independent linear movement parallel to the X and Y axes, a wrist assembly operatively supported by each arm assembly and including a motor for selectively moving the wrist assembly about a rotation axis parallel to the Z axis, and motor and mounting structure for moving the arm assemblies relative to the cross beam assembly parallel to the X and Y axes.

Abstract: Stable compliance control at a high speed is achieved by cooperation between a manipulator and a wrist body which is located at the end of the manipulator arm.

Abstract: An automatic manipulator capable of performing various programs and adaptively controlled operations with respect to work including operations on work. Automatic tool changing means are provided wherein the manipulator changes tools with respect to its tool holding fixture, tool head or heads. In one form, a plurality of tools to be used are supported on a rack adjacent the manipulator and the manipulator is automatically operated to effect the uncoupling of one or more tools from its operating head and the coupling of one or more tools with respect to such operating head. In another form, the tools are supported by the manipulator itself and the manipulator is automatically controlled to effect the transfer of tools between its operating head and a storage location for the tools. In a third form, tool heads themselves are automatically changed and received either from storage on the manipulator or adjacent the manipulator.

Abstract: A clutch device adapted for use with robotic tooling is disclosed. The clutch device, which is assembled in a housing having a longitudinal axis, includes a sensing device for detecting undesired pressure from an external source. A rod is fixably secured to the housing and extends along the longitudinal axis of the housing. A collar assembly is provided for connecting the clutch device to robotic tooling. The collar assembly is capable of being pivotally associated with the housing. A piston assembly, which is in communication with the sensing device, is disposed about the rod and moves the collar assembly between a first substantially static position to a second broken-away position upon receiving a signal from the sensing device.

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 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 backlash removing mechanism for an industrial robot wherein operation for adjustment thereof can be made readily with a simplified construction without causing a play. The mechanism comprises a rotational driving means disposed in a casing, a reduction gear for reducing the speed of rotation of the rotational driving means, and a rotary shaft directly coupled at an end thereof to the output side of the reduction gear. The reduction gear is disposed for movement in a direction of an axis of the rotary shaft. A bevel gear mechanism is provided at the other end of the rotary shaft and transmits rotation of the reduced speed from the reduction gear to an output power shaft of the robot. The rotary shaft is supported for rotation by means of a bearing which is disposed for integral movement with the rotary shaft in the axial direction. The bearing is adjustably and securely positioned in the direction of the axis of the rotary shaft in the casing by a positioning mechanism.

Abstract: The wrist assembly of an industrial robot comprises a first wrist portion (21) provided on the free end of the robot arm (20) and having a pair of projections (22, 23) in parallel with each other on the fore-end thereof. A second wrist portion (24) is provided between the projections of the first wrist portion and supported on both of the projections so as to be rotatable about a first axis (.beta.) intersecting a longitudinal axis of the robot arm at a right angle. A third wrist portion (25) is supported on the second wrist portion so as to be rotatable about a second axis (.alpha.) intersecting the first axis at a right angle, and constructed to allow work attachments to be attached to the front end thereof. A first motor (45) and a second motor (55) are used for driving the second wrist portion and the third wrist portion.

Abstract: A coupling device includes a first support member which is connected to the arm of a robot and which supports a second support member for precision universal tilting and axial and/or rotary movement from an aligned normal position. The second support member supports robotic tooling, and a set of springs or springs and ball members or fluid actuated piston bias the support members to the normal position. An electrical control circuit is effective to stop movement of the robot arm in response to minute tilting or axial or rotary movement of the second support member in the event the tooling or article carried by the tooling is accidentally hit or overloaded. A set of semi-circular rings and auxiliary springs are attached to the support members for producing a substantial biasing force towards the normal position, and a set of construction balls and corresponding seats are used to establish a precision normal position.

Abstract: This disclosure describes a wrist capable of the range of motion and function of a human wrist, composed of a basic ball and socket joint, with the ball portion segmented vertically into as many flat portions as there are fingers to allow the first segment of each finger to attach to each ball segment, allowing independant up-down motion of the fingers, while retaining dependant motion of the fingers in the back-and-forth direction.

Abstract: A wrist mechanism of an industrial robot is provided with a forearm, a wrist base mounted on the forearm so as to be rotatable about a lengthwise rotary axis of the forearm, a wrist body mounted on the wrist base so as to be swingable about a swing axis perpendicularly crossing the rotary axis of the wrist base, and a wrist top mounted on the wrist body so as to be rotatable about an axis perpendicular to the swing axis of the wrist body. The wrist base is characterized in that a motor for rotating the wrist tip and a motor for swinging the wrist body are arranged opposite to each other in a lengthwise direction.

Abstract: A supporting device including a first member which supports a springy means for resiliently supporting a second member. The supporting device includes a detection for detecting displacements of the springy with respect to the first member in accordance with the movement of the second member and a biasing which applies a force to the springy from the same direction as or from a direction opposite to that of the displacement for changing the elasticity of the springy in accordance with the movement of the second member.

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: Strips (20), housed in the slave arms (10) of a remote handling device and used for transmitting to the pair of gripping pliers borne by this arm orientation and tightening movements remote controlled by an operator, rotate pinions (26a) mounted at the extremity of the slave arm (10). These pinions (26a) are normally geared onto pinions (30a) mounted in a ball and socket joint (16) inserted between the pliers and the slave arm. When the ball and socket joint is dismounted, any attempt to remove the strips (20) is made impossible by the locking devices (60a) which come to rest onto the flanks of the pinions (26a) under the action of the spring (72). Any breakage of the strips due to their being pulled during dismantling of the ball and socket joint is thus avoided.

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

Abstract: A mechanical manipulator having a joint with a base support and an output support each of which has an orthogonal pivot connection arrangement connecting them in one axis to a common joining arrangement connecting them in an orthogonal axis through which they are movably joined, there being a pair of guides with each rotatably connected to one of the supports and movably joined with each other. A plurality of such joints joined with one another can be provided between two rotary interfaces.

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: A robotic connector or interface includes a roughly conical male member in which the conical side may be concave. The male member includes a radial indexing pin, and a central bore in which polarized electrical connectors are located. A mating female member includes a cavity with a fundus and movable peripheral lips adapted for grasping the base of the male member when engaged for drawing the male member into full mating relation with the cavity. A tapered slot in the side of the female member guides the index pin to impart rotational forces so that mating can take place even if the approach is skewed. The electrical connectors are mounted on a separately indexed, spring loaded connector plate at the fundus of the cavity. A motor-driven linkage operates the peripheral lip members.

Abstract: A rotary actuator includes a shaft rotatably mounted on a body, and a servovalve arranged to operate a vane motor for selectively rotating the shaft relative to the body. A portion of the shaft extends beyond the body. Supply and return passages are provided to the body and shaft so that fluid power supplied to the body is supplied to the servovalve and is also available at the end of the shaft beyond the body. Two or more such rotary actuators may be connected by intermediate brackets to provide a wrist actuator capable of movement about axes.

Abstract: A variable compliance device having a tool plate attached between a tool and a robot arm to allow limited movement of the tool plate relative to the robot arm. A concave bill seat connected to the tool plate and a pin having a concave surface house a bearing ball. An inflatable diaphragm exerts a force on a piston toward the pins to force the pins against the bearing balls. Movement of the tool plate relative to the robot arm causes the pins to move relative to the robot arm. The force of the diaphragm on the pins resists movement of the tool plate relative to the robot arm, and restores the tool plate to its original position after the outside force is removed. If the pins are moved beyond a selected point, a sensor senses the movement and sends a signal to shut down the robot.

Abstract: A precision automatic assembly apparatus for inserting an insertable part into a hole formed in a member includes a movable hand incorporating a movable body to which the insertable part is attached, and an electromagnetic wrist mechanism having a plurality of electromagnetic devices including air core coils and magnetic poles for supporting the movable body and controlling the movable body along a plurality of axes. When the part is inserted into the hole formed in the member, an external force which acts upon the part and the position of a point at which the part contacts the member are estimated by a control unit via position sensing means incorporated in the hand. Currents supplied to the excitation coils of the electromagnetic devices are controlled on the basis of the estimate to adjust the state (position and attitude) of the insertable part, whereby the part is fitted into the hole smoothly and automatically.

Abstract: A robot arm comprises a robot arm unit, and an assembly flange provided with a unit for centering and fastening of tools, the assembly flange being formed as a wall of a housing member fastened to the robot arm element and having an interior space through which line portions for power supply and control on a robot arm element side can pass, the wall having a plurality of sides and being provided on the sides with openings, a plurality of cover plates arranged to cover the openings, at least one of the cover plates being provided with internal connections for the line portions on the robot arm element side, and also being provided with a unit for connecting the internal connections with further elements.

Abstract: This invention comprises a general redundant spherical linkage capable of producing singularity free relative motion of two arms which intersect at a fixed point. All points of all links of the invention move on spheres that are concentric about this fixed point of intersection of the two arms. In a general way the invention can be considered as a sphere which is divided by a central link that supports two pairs of orthogonally intersecting axes of rotation for four semicircular links that are 180.degree. arcs of great circles. The point of intersection of a pair of orthogonally pivoted semicircular links, directs an arm passing through the center of the sphere. Each pair of orthogonally pivoted links controls the spherical motion of one arm within one hemisphere. By simultaneously controlling all four pivoted links, arbitrary relative motion of the two arms can be achieved.

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: Selective compliance in up to six degress of freedom in a magnetically levitated fine motion device, or robot wrist, with limited motion in X,Y,Z, ROLL, PITCH, YAW, is provided by controlled actuation currents applied to six electrodynamic forcer elements. The wrist has a stator support base defining a dual periphery, carrying a number of stator magnet units. A shell flotor unit nests within the stator support base dual periphery, and carries forcer coils at locations corresponding to respective magnet units. The magnet unit and related flotor coil form a forcer element. There are a number of forcer elements. The vector sum of all the translational forces and rotational torques established at the forcer elements determines the X,Y,Z, ROLL, PITCH, and YAW motion of the flotor. The flotor carries an end effector which may be a tool. Position and orientation of the flotor is monitored by light emitting diodes and lateral effect cells.

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

Abstract: A fixed plate (2) is mounted to an end of a robot or working arm (1) by means of screws (3). The fixed plate (2) has an extraordinary multi-cornered, canted, central opening (2c). A connection plate (4) for a gripper (5) is disposed in this central opening by leaving available a slot X for motion. The fixed plate (2) and the connection plate (4) are provided with bores (2a) and (4a) having conical openings (2b) and (4b) for centering cones (6b) of tapered countersunk pins (6) and (6.1). The diameter of the bores (2b) and (4a) is larger by a factor of two times the size of the available slot for motion as compared to the diameter of the tapered countersunk pins (6).

Abstract: A wrist mechanism suitable for robotic manipulators comprising a first actuator for rotating a first yoke about a first axis, a first crossed shaft carried by the yoke, a second actuator for pivoting the first crossed shaft about a second axis, a second crossed shaft carrying a second yoke, an actuator means for causing rotation of the wrist mechanism about a third axis, highly rigid side plates supporting the first and second crossed shafts in bearings, highly rigid cross members rigidly interconnecting the side plates, and gears for transferring motion between the first and second crossed shafts to allow pivotal movement of an end effector carried by the second yoke in excess of 180.degree. about the second axis, and at least 180.degree. about the third axis, and rotation in excess of 200.degree. about the first axis.