Abstract: A robot gripper module having a housing pivotally mountable to an end of a robot arm. The housing encloses a first motor for pivoting the housing about a pivot joint, and a second motor operating a rack-and-pinion gear arrangement for extending and retracting fingers. Two opposed groups attached to a rack on opposite sides of a pinion gear. Turning the pinion gear causes the fingers to move toward or away from one another. The motors which may operate independently of the robot arm, may be either servo or stepper motors. The gripper module provides additional degrees of freedom from that of the robot arm, enabling it to work with many kinds of robot arms.

Abstract: A material handling system in the form of a grappling device or of a robotic or prosthetic limb is provided which can function for performing work. The system includes a plurality of magnets including at least one electromagnet. In preferred embodiments the magnets are hinged together at opposite ends and disposed inside a sheath. By reversing the polarity of selected electromagnets in the limb, the limb or an associated material handling device can be moved from an open position to a closed position for gripping an object. In turn, by again reversing the polarity of the electromagnets, the object can be released and the limb returned to an open position. The limb may be in the form of an anatomical hand, an arm or a foot, and the resilient casing may take the form and appearance of an artificial skin. The outer skin may be a glove with the inside of the glove having electrical conductors deposited thereon with contacts engaging opposite ends of the selected magnets.

Abstract: A system for handling workpieces comprises a carrier frame and a gripper device secured to the carrier frame and actuatable to grip a respective workpiece. The gripper device comprises a housing including a cylindrical housing member and a bearer head adjoining one end of the cylindrical housing member and carrying a gripper, and an operating device for the gripper arranged in the housing member. The handling system further comprises a bearing for the cylindrical housing member, which has a surface configuration designed to enable the housing member to fit the bearing and to be held thereby, and a coupling device cooperating with the bearing head and holding the bearing head non-rotatably with respect to the bearing.

Abstract: A wafer transfer apparatus used in manufacturing high density semiconductor products is disclosed which includes at least three movable arms for supporting a wafer from below thereby preventing contact with the active surface of the wafer. A mechanism for moving the arms into and out of its wafer supporting position is diposed, in part, above the wafer when a wafer is supported thereby. The portions of the actuator mechanism disposed above the wafer are constructed in a way such that no sliding contact occurs between elements thereof. Sliding contact between elements disposed above a wafer has proved to produce microscopic particles which can fall onto the active surface of the wafer thereby contaminating the circuits contained thereon. As sliding contact is avoided by the apparatus of the present invention, contamination particles produced within the wafer transfer apparatus is substantially reduced, if not entirely eliminated.

Abstract: An anthropomorphic robot arm includes a hand section, wrist section and arm section. The hand section comprises a base plate, a plurality of flexible fingers which have a plurality of joints and are rotatably supported by the base plate, and one thumb which has a plurality of joints and is supported by the base plate such that it is able to rotate in a direction so that it is opposable to the flexible fingers. A group of actuators contained within the arm section independently drive each joint of the fingers, giving them the same movements as a human arm.

Abstract: An improved robotic end effector is disclosed. The end effector of the present invention possesses a novel breakaway clutch, which is combined with mechanically linked finger joints to significantly reduce control complexity while retaining the ability to accomplish enveloping grasps. In another embodiment, a finger using compliant tendons to accomplish enveloping grasps is disclosed. A novel palm/finger configuration which further increases the versatility of the disclosed end effector without unduly increasing complexity is also disclosed. Methods of manipulating an object are also disclosed.

Abstract: An apparatus for assembling a door handle operates by installing a key guard assembly in the door handle in automatically assembling the door handle assembly to be mounted on the outer surface of an automotive door panel. The apparatus includes a first feed device for feeding components of the key guard assembly supplied from a parts feeder, a superposing device for superposing the components of the key guard assembly supplied by the first feed device, into a key guard assembly, an industrial robot for installing the key guard assembly in a door handle, and a second feed device for delivering the key board assembly to the industrial robot. The industrial robot includes a chuck device for dripping the key guard assembly and installing the key guard assembly in the door handle, and an end effector having a staking device for bending tongues of the key guard assembly to fix the key guard assembly to the door handle.

Abstract: A robotic hand having a plurality of fingers, each having a plurality of joints pivotally connected one to the other, with actuators connected at one end to an actuating and control mechanism mounted remotely from the hand and at the other end to the joints of the fingers for manipulating the fingers and passing externally of the robot manipulating arm in between the hand and the actuating and control mechanism. The fingers include pulleys to route the actuators within the fingers. Cable tension sensing structure mounted on a portion of the hand are disclosed, as is the covering of the tip of each finger with a resilient and pliable friction enhancing surface.

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 gripping device for gripping or grasping an object within a set of jaws utilizing a shape memory alloy material that is both simple of construction and suitable for use in space as well as on Earth. The shape memory alloy contracts when heated and operates to move the jaw bears in a given direction. When no heat is applied to the shape memory alloy, a returning mechanism moves the jaw bars in the opposite direction. The shape memory alloy material may be in the form of a strap or wire which is easily heated and provides for a fast closing and opening action of the jaws of the gripping device.

Abstract: The disclosure relates to a gripper arm for use in conjunction with a robotic arm for gripping a tool wherein the tool is retained in the gripper arm until a positive action signal and lack of pressure from the tool are simultaneously provided. The tool cannot be discharged from the gripper arm under other conditions including power loss to the robotic device.

Abstract: A manipulator drive mechanism employing splined shafts in both a vertical and a horizontal axes. The horizontal splined shaft is rotatably driven by a rack assembly and a pinion gear rotatably fixed with respect to the horizontal splined shaft and which is also slidable along the horizontal splined shaft.

Abstract: Improved robotic fingers are disclosed. The present invention provides a novel three joint, two actuator robotic finger. The finger disclosed is self-contained, lighter and requires less computational overhead than designs requiring one actuator for each joint, while providing greater versatility than simple grippers. The fingers of the present invention are constructed using a series of pulleys and tendons to couple the motion of two joints. In a preferred embodiment, a novel tendon configuration is disclosed which provides human-like enclosure and grasping capabilities. Also, other useful tendon configurations are disclosed. Robotic hands comprised of a group of one or more of the fingers of the present invention and methods of utilizing them to manipulate objects are also disclosed.

Abstract: This invention relates particularly to a drive mechanism for converting rotary to unidirectional linear movement for use in actuation of hinged members of robotic, prosthetic, and other like devices. The twisted cord actuator includes a motor with an axial shaft to which, by a coupling, the single free end of two or more cords are attached. The opposing ends of the cords are attached to the moveable member. As the shaft rotates the cords are twisted around each other in helical fashion. Thus their combined length is shortened. In this invention the rotating device represents the muscle and the twisting of the cords, the tendons. The twisting pair of cords may then be threaded through a sheath to act as a pull cable for use as a tendon for an artifical finger or robotic arm. The values of this invention are low cost, ease of use and variability of design.

Abstract: The present invention provides for an apparatus and method for installing weather stripping in a body door opening. In its preferred embodiment the present invention provides a robot which can load itself from a weather stripping station, transfer the weather stripping to the body door opening, and install the weather stripping within the body door opening. The present invention also provides an end of arm tooling device for a robot above-described.

Abstract: A vacuum adsorption hand and a composite hand mechanism attachable to the arm or the like of a material handling industrial robot are disclosed. The vacuum adsorption hand includes a sponge-like element on the outer surface of a perforated plate defining a vacuum chamber to prevent the ports or perforations in the plate from being obstructed by packaging film on an article to be handled. The composite hand mechanism of the present invention includes grasping mechanisms for grasping the sides of an article to be held in addition to an adsorbing mechanism. The grasping mechanisms have first members adapted for transverse movement to apply an adjustable transverse grasping force and second members which are vertically movable with respect to the first members. The grasping mechanisms ensure that the article will be held securely despite the effects of horizontally-oriented forces acting on the article held by the composite hand mechanism.

Abstract: The mechanical joint includes a spherical member having a pair of grooves in its outer surface, each groove extending circumferentially about the spherical member and disposed approximately 90.degree. from each other. A housing has a concave spherical socket for receiving the spherical member. The housing includes a pair of slots located proximately at an equatorial plane of the spherical member. A frame is fixedly secured to the spherical member at the intersection of the first and second groove opposite the housing. A first ribbon, slidable within the first groove, is attached to pivot pins in the slots of the housing and is looped around a first pulley within the frame. A second ribbon slidable within the second groove is attached to pivot pins mounted in the housing at the approximate midpoints between the slots of the housing. The second ribbon is attached to a second pulley within the housing. An output member is fixedly connected to the housing.

Abstract: A pick and place machine has two pairs of centering jaws slidably mounted in rectilinear slots of a shift plate, with each jaw pair being driven by a pair of scissor links respectively pivoted to a pair of nuts mounted on a dual reverse threaded shaft.

Abstract: Proximity sensors are used to sense impending contact, i.e., a point of close approach, between a finger of a robot hand and an object. Each finger is equipped with force sensors so that finger touch force with the object can be measured and controlled. The hand is controlled by a dedicated microprocessor, which communicates with a robot arm controller through 8 digital input/output lines. A novel "bi-modal" control system uses information from the proximity sensors to control both solenoid (on/off) valves and a proportional servovalve which are alternatively switched into an operative mode in a pneumatic circuit which powers the pneumatic actuators of the hand. This control design achieves the two goals of rapid object acquisition and low interaction forces. Each finger of the hand is capable of implementing an acquisition strategy in which mislocated objects can be acquired.

Abstract: The present invention provides for an apparatus and method for installing weather stripping in a body door opening. In its preferred embodiment the present invention provides a robot which can load itself from a weather stripping station, transfer the weather stripping to the body door opening, and install the weather stripping within the body door opening. The present invention also provides an end of arm tooling device for a robot above-described.

Abstract: A detecting device is fitted so as to span a row of adjoining receptacles which are set in a reciprocating continuous motion, so that each receptacle passes within the scanning field of the detecting device. The latter sends the signals sequentially to a processor for elaboration into point curves showing the courses of each reaction through time. The row of receptacles may be set in a reciprocating motion by a rack, a stepping motor, a cam-type control or a coupling device, etc.

Abstract: The present invention provides an apparatus and method of utilization of the same of a linear motion gripper usable in conjunction with a robot or like structure. The gripper is powered by a rotary actuator connected with a plate which is cammingly engaged with a slider or sliders. Movement of the actuator causes the slider to move linearly. However, loss of power of the actuator cammingly locks the slider(s) in position. Therefore, upon loss of power to the actuator, the slider(s) are locked in position.

Abstract: The present invention provides for an apparatus and method for installing weather stripping in a body door opening. In its preferred embodiment the present invention provides a robot which can load itself from a weather stripping station, transfer the weather stripping to the body door opening, and install the weather stripping within the body door opening. The present invention also provides an end of arm tooling device for a robot above described. The present invention also includes a vehicle produced by the robot above described.

Abstract: The present invention provides for an apparatus and method for installing weather stripping in a body door opening. In its preferred embodiment the present invention provides a robot which can load itself from a weather stripping station, transfer the weather stripping to the body door opening, and install the weather stripping within the body door opening. The present invention also provides an end of arm tooling device for a robot above-described.

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: In a grip device wherein bimorph type piezoelectric elements are employed for fingers or claws for grasping a workpiece, a grip device comprising bimorph type piezoelectric elements which are mounted on a grip body and which form finger or claws, a voltage feed circuit which is connected to the piezoelectric elements in order to bend and deform the piezoelectric elements, and a control circuit is connected to an end of the piezoelectric elements providing an output signal for controlling a grasping force for a workpiece.

Abstract: Improved microgrippers using piezoelectric polymers are disclosed utilizing a pair of levers formed in a plier-like structure having piezoelectric polymer composite sheets connected between the levers or between each lever and a third intermediate lever or through a drive linkage to the levers. By appropriate application of electric fields, jaws formed at the ends of the levers are moved toward and away from each other to accomplish the grasping and releasing action.

Abstract: A gripper mechanism for feeding a pair of elongate strips such as a pair of slide fastener stringers has a pair of gripper holders supporting a pair of grippers for gripping the slide fastener stringers, respectively, and a pair of sliders joined to the gripper holders, respectively, and slidably disposed in a housing for independent movement therein. In response to engagement with a cam on a feed path, the grippers are opened to grip or release the slide fastener stringers. The grippers are normally urged by a spring to clamp the slide fastener stringers. A pinion is angularly movably supported on a slide block in the housing and held in mesh with a pair of racks, respectively, of the sliders. A spring acts between the housing and the slide block for normally urging the slide block in a direction to move the gripper holders into abutment against the housing. The gripper holders can be moved relatively to each other toward and away from the housing.

Abstract: A device for changing tools, pick-ups, welding torches, and other implements that can be handled by industrial robots. It consists of an upper and lower part. In order to obtain optimal cost effectiveness a linear drive mechanism guides a hook-shaped structure in the upper part along a guide in such a way that the structure initially carries out a curved motion essentially perpendicular to the linear closing or opening motion during the closure process. The curved motion is appropriate for making the bottom of the device engage an associated implement even when the latter is stored in an imprecise position. The structure then carries out a strictly linear motion during which the upper part and lower part are exactly aligned by guides integrated into the device and by guide bevels even in the presence of counteracting forces. A motion that can be made as precise as desired can be executed to obtain a closed and mechanically prescribable final position.

Abstract: A gripping apparatus for gripping and releasing objects and for use with a micromanipulator. Spaced cantilever jaws extending in substantially the same direction from a support are each formed of a pair of elongated ribbons of piezoelectric polymer bonded together in oppositely polarized orientation. An electrically conductive thin film is bonded to the outer surfaces of the laminate. A voltage is applied to the conductive films causing the polymer ribbon laminates to bend toward or away from each other dependent upon the polarity of the applied voltage so that they grip an object.

Abstract: A robot hand comprises first and second parallel main shafts fixed to a pair of parallel support plates. First and second finger member-driving mechanisms are respectively provided on the first and second main shafts to face each other. The finger member-driving mechanism includes first and second bevel gears separately set and rotatably supported on the main shaft, an auxiliary shaft rotatably supported on the main shaft, and a third bevel gear supported on the auxiliary shaft to be rotated about an axis perpendicularly intersecting the main shaft and meshed with both first and second bevel gears. Finger members are fixed to the third bevel gears, so that the finger members may be rotated around the main shaft and auxiliary shaft by rotating the first and second bevel gears.

Abstract: A robot system comprising readily interchangeable hands. Usually the system will be controlled by a computer which will communicate with servo motors in each hand through an analog pulse width generator on the robot. The computer controller will also be able to utilize robot-associated circuitry to obtain information directly from each hand.

Abstract: A rotatable lever and an initially transversely disposed adjustable linkage echanism for attachment in predetermined relation to at least one movable work-performing arm and operable such that upon rotation of the lever and linkage mechanism responsive to pivotal rotary movement of the lever portion thru a designated travel arc of at least approximately 90.degree., the movable arm moves much more rapidly during the first approximate one-half to three-quarters of its designated travel arc, and thereafter continues to move progressively slower in a firm positive manner thru the remainder of the travel arc, while moving from its transverse relationship to a generally parallel or linearly aligned relationship. This simplified mechanism is non-servo in character and relatively low cost compared to servo devices embodying continuous sensing and feedback circuitry. Among various uses are easy association with various known industrial type robot devices embodying programmed control of articulated mechanical arms.