Abstract: A method for gripping objects by means of a robotic gripper mechanism is provided, wherein the gripping mechanism comprises gripping jaws, a wedge actuator between the gripping jaws, wherein the wedge actuator moves the gripping jaws together and apart as it slides backward and forward, and a motor that moves the wedge actuator by means of a connecting leadscrew. The method comprises applying current to the motor so that the motor reaches maximum operating speed before the gripper mechanism comes into contact with any object. When the gripping jaws contact an object, e.g., media cartridge, they collapse over the object, gripping it. The inertia from the rotating mass of the motor increases the force and speed of the gripping action. In another embodiment, a flywheel may be added to the leadscrew to provide additional rotating mass and increase the inertia before contact.

Abstract: An externally-powered prosthesis mechanism usable with persons with amputations at or proximal to the level of the metacarpophalangeal joint, as well as persons with high-level amputations. The prosthesis mechanism includes a grasping mechanism including a mechanically operable finger member and a mechanically operable thumb member kinematically linked to the finger member such that the grasping mechanism is disposed in respective opened and closed configurations when the finger member is respectively moved away from and toward the thumb member. The prosthesis mechanism further includes a drive system extending tangentially with respect to the grasping mechanism and including a motor operatively connected to drive at least one planetary gear stage, which is operatively connected to drive the grasping mechanism to the opened configuration when the motor is driven in a first direction and further drive the grasping mechanism to the closed configuration when the motor is driven in a second opposite direction.

Abstract: A robot hand finger makes a hooking movement similar to that of the human fingers with less number of driving units by installing a 4-joint link. A robot hand includes several fingers and 4-joint link in order to implement a horizontal movement of the fingers. A robot hand selectively drives a hooking movement and a horizontal movement of fingers with less number of driving units by having a clutch unit. A robot hand includes fingers with a strain gage and is able to control a grasping force by using a value measured by the strain gage.

Abstract: An apparatus and a method for the exchange of power-supplied batteries which are arranged in a media-conveying untethered robot which is located in an automated data-storage library.

Abstract: The invention relates to an automatic sampler device. According to one aspect, the automatic sampler includes a cell having a sample platform and a reference platform; a sample tray; and a sample arm. The sample tray has wells into which sample pans and reference pans are inserted. The geometry of the automatic sampler device permits the sample platform, the reference platform, and the wells in the sample tray to be accessed by the sample arm along a common arc. According to another aspect, the automatic sampler device includes a sample tray with wells, a sample arm, and a gripper device. The gripper device has gripping fingers. The gripping fingers open or close in a manner that tends to center objects grasped by the gripper device. According to another aspect, the automatic sampler device includes a sample tray with wells, a sample arm, and a gripper device. The sample arm has an optical sensor and an electrical sensor.

Abstract: The present invention relates to apparatus, systems, and methods for opening an autosampler sealed sample pan prior to TGA testing. The sealed sample pan comprises a pan, cover, and bail. A notch is formed in the seal sample pan cover. The cover can be opened by applying a concentrated force to the inside of the notch with a punch element integrated into the autosampler. This causes the center disk portion of the cover to be partially sheared and the sealed sample pan to be opened. It also prevents the punch element from touching the sample. A force sensor is used to determine if the cover has been opened. If the cover has been opened, then the sample pan is loaded to the TGA balance. If the cover has not been opened, the autosampler will not load the pan and will automatically move to the next sealed sample pan.

Abstract: The present invention provides a robotic gripper mechanism. The invention comprises gripping jaws and a wedge that moves along angled groove between the gripping jaws. The angled grooves are connected to the gripping jaws, and the wedge moves the gripping jaws together and apart as it slides backward and forward along the angled grooves. The wedge also keeps the gripper jaws parallel to each other as they open and close. A motor moves the wedge backward and forward, and guiding surfaces attached to the base prevent the jaws from moving horizontally relative to the base.

Abstract: A micro actuator including: a translationally driving section having a moving portion which is incorporated in a case 14 and moves translationally; and a displacement enlarging member 1 having one end portion 1g connected to the moving portion of the translationally driving section and another end portion 1h connected to the case, wherein as the one end portion 1g is pulled on the basis of the translational movement, the amount of displacement of its distal end 1a is enlarged.

Abstract: A robot with at least partly externally located cables, particularly robot tool supply cables having a length reserve in the area of the A3 axis of the robot is characterized by a base part located on the robot and having elements for guiding the supply cables and with a leg pivotable against the latter on which is located at least one of the elements for supply cable guidance.

Abstract: The invention relates to a gripper device. According to one aspect, the gripper device includes fingers with grasping ends. The gripper device includes a mechanism to cause the grasping ends to open and close. When the mechanism is engaged, the grasping ends open and close to define a circumference. According to another aspect, the gripper device includes fingers, an upper flat member, and a lower flat member. The fingers have grasping ends. The fingers are inserted into the upper flat member and lower flat member. When the upper flat member is rotated relative to the lower flat member, the grasping ends of the fingers open and close. According to another aspect, a gripper assembly has a gripper device with fingers and a rotating member. The gripper assembly also has a motor and mechanism for rotating the rotating member. The gripper device opens or closes the grasping ends in response to the rotation of the rotating member.

Abstract: A microtool for manipulating components is proposed. A component is held with the microtool by at least one gripper arm having a gripping surface, the gripper being movable by an actuator structure. Also provided is a device for releasing the held component from the gripping surface, whereby an acceleration is induced in the gripper arm for at least a time, and the force of inertia resulting from the inertial mass of the held component and the exerted acceleration will be greater than any force of adhesion acting between the held component and the gripping surface. A process is also proposed for producing a microtool or a microtool part, in particular a microgripper by micropatterning.

Abstract: A multifinger hand device has a plurality of finger mechanisms extending from a palm unit. The finger mechanisms include a finger mechanism corresponding to a thumb and other finger mechanisms. Joints of the finger mechanism corresponding to the thumb include a joint closest to the palm unit and having a rotational axis about which the joint is rotatable, the rotational axis extending substantially perpendicularly to the rotational axis of a joint, closest to the palm unit, of one of the other finger mechanisms. The joints, closest to the palm unit, of the other finger mechanisms have respective rotational axes about which the joints are rotatable and which are slightly inclined to each other and extend substantially perpendicularly to a main palm plate of the palm unit. The other finger mechanisms have link mechanisms closest to the palm unit which are fixed to the palm unit with their respective rotational axes being inclined to each other.

Abstract: In a method of producing a microgripper including a grip finger 100 which has a coupling portion 100g that commonly owns one ends of three V-shaped edges 100v on an open end side, other ends of the V-shaped edges 100v being connected to a case 14, and in which the coupling portion 100g is connected to a moving portion of a translational driving section 12, and the coupling portion 100g is pulled on the basis of translational movement, whereby displacement amounts of the tip ends of the V-shaped edges 100v are inwardly magnified more than an amount of the translational movement, the method comprises the steps of: in a state where the grip finger 100 has three edge portions 101a in which the V-shaped edges 100v having the coupling portion 100g are developed in a substantially flat plane, outwardly bending the edge portions 101a at a substantially center; and inwardly bending the edge portions 101a at a vicinity of the coupling portion 100g.

Abstract: An electrically driven gripper has a housing, a gearmotor attached to the housing, a cam engaged to the gearmotor, a pair of opposing jaws slidingly mounted to the housing, a cam follower secured to one of the jaws and in sliding contact with the cam; and a spring configured to impart a force to the jaws such that the jaws are pulled toward each other. The gearmotor drives the cam to force the jaws to a maximum open position. Continued rotation of the cam allows the spring to pull the jaws closed to grasp an object with the jaws. Sensors mounted to the housing determine whether the jaws are in an open or closed state. A simple circuit on a printed circuit board mounted to the housing is used to control the electric gearmotor.

Abstract: The invention provides a grapple device and a method for manipulating, i.e., grabbing, holding and releasing objects. The grapple comprises two parallel rollers with gripping surfaces, where the rollers are pushed towards each other with sufficient force to hold a graspable portion of a deformable object. When the grapple comes onto contact with any portion of the deformable object, a signal activates a set of gears causing the rollers to rotate in opposing directions so that a graspable portion of the object is dragged between the rollers. When sufficient material is caught between the rollers, a signal activates a brake automatically stopping the rotation of the rollers, whereby the rollers then hold the graspable portion of the object allowing the object to be moved to a desired location. When the object is properly located, a signal is generated which causes the rollers to rotate in the opposite direction to release the object.

Abstract: An industrial automation robot including a locating member (e.g., a robotic arm), a gripper movable by the locating member to a position aligned with a workpiece, and a pair of jaws attached to the gripper's slides for engaging the workpiece. A driving interconnection between the gripper's slides and the gripper's drive assembly moves the slides towards each other when a drive rod is rotated in a first direction and moves the slides away from each other when the drive rod is rotated in a second direction. The driving interconnection between the slides and the driving assembly preferably further insures synchronous movement of the slides, and thus the jaws, relative to the frame when the drive rod is rotated.

Abstract: A compact high speed gripper assembly includes a simple design with minimal components while providing flexibility for grasping variously sized cartridges. The gripper assembly includes a frame, a rotary solenoid secured to the frame, and first and second gripper jaws movably connected to the frame for movement in opening and closing directions for gripping a cartridge. Each gripper jaw includes a cam surface formed thereon. First and second followers are driven by the rotary solenoid and engaged with the respective cam surface for actuating jaw movement.

Abstract: A device for depositing and withdrawing banknotes, in which the banknotes are conducted in a closed circuit between deposition and withdrawal is provided which includes an extractable drawer for the sorted reception of banknotes and extractable drawer for the sorted reception of banknotes and for various banknotes in different shafts, from which the respective banknotes can be drawn off mechanically. The device also includes a drawer having an openable bottom and at least one open or openable longitudinal side wall, via which a manipulator can be moved into the respective position in correspondence with the reception bins for individual banknotes. By displacement in the vertical or horizontal direction, the manipulator is able to grasp banknotes and deposit the same in a shaft arranged therebelow, wherein upon reopening of the drawer, only empty reception bins are released, the banknotes having been safely deposited in a safe.

Abstract: A microgripper for gripping objects in which gripper arms are actuated against a resilient bias by cams and cam followers powered by a stepper or servo motor operating through a lead screw and nut drive mechanism. Ramp cams, face cams and perimeter cams may be utilized and the arms of the microgripper may be rigidly or pivotally supported at the ends remote from the component gripping ends thereof.

Abstract: A parallel gripper includes an electric motor; a threaded spindle connected to the motor to be driven thereby about a longitudinal spindle axis; a spindle nut threadedly mounted on the spindle for longitudinal travel therealong upon rotation of the spindle; a support block affixed to the nut; an arrangement for preventing a rotation of the spindle nut about the spindle axis; a mounting plate for accommodating a gripper jaw thereon; and a first, a second, a third and a fourth web coupling the mounting plate to the support block. The first and second webs are parallel to one another and are spaced in a direction parallel to the spindle axis; and also, the third and fourth webs are parallel to one another and are spaced in a direction parallel to the spindle axis. Further, strain gauges are mounted on the webs for emitting signals representing a bending deformation the webs undergo in response to a reaction force generated by a gripping force of the gripper.

Abstract: A method for real-time three-dimensional control of position and attitude of an end effector of a manipulator relative to a moving workpiece. Angles of revolute joints of the manipulator are controlled by harmonizing a first control methodology, wherein the z-axis coordinate of the end effector and the attitude of the end effector are controlled based on input target values for the position and attitude of the end effector, with a second control methodology, wherein the x-axis and y-axis coordinates of the end effector are controlled responsive to image data captured by a camera mounted to the manipulator.

Abstract: A microgripper for gripping and releasing an object, particularly very small objects. The microgripper includes a support and two cantilevered flexible arms, each of which is mounted on one end to the support. The other ends of the flexible arms are capable of being flexed toward and away from each other. A servomotor, is affixed to the support. There is a slide arrangement driven by the servomotor and which is adapted to move the unmounted ends of the flexible arms toward or away from each other, thereby providing, respectively, a gripping or releasing movement. An apparatus which includes a micromanipulator, the microgripper which is operationally, detachably affixed to the micromanipulator, and a control system which is electrically connected to the motor means whereby the movement of the slide arrangement is controlled.

Abstract: A finger module includes a first link module rotating around a first joint shaft; first through third drive modules respectively fixed to the first link module and each having an electric motor, reduction means and output means; a second link module driven and rotated by the second drive module; and a third link module driven and rotated by the third drive module. In a finger module structure of the above finger module, the first through third drive modules and the second link module are separately provided in the first link module, and the third link module is provided in the second link module. A robot hand includes at least two of the finger modules side by side.

Abstract: A telescopic pick-and-place robotic mechanism used to retrieve and deposit magnetic tape cartridges from a remote position, configured to be mounted to a typical robotic assembly located in proximity of a storage area for computer data or other storage media. The present invention has a reduced cross-sectional area due to its telescopic nature.The pick-and-place mechanism includes a base connected to the robotic arm and a number of slider plates coupled to the base which telescopically extend and retract relative to the base in a single axis of movement to reach the remote location. The slider plates are coupled to each other by slider means for enabling each of the slider plates to translate relative to each other along the single axis of movement. Each slider plate is controlled by a crank and slider mechanism which converts a incoming rotational force to a linear force in the direction of the single axis of movement.

Abstract: A mechanical hand assembly for use in prosthetic and robotic applications includes multiple fingers pivotally attached to a palm subassembly. The fingers are operatively attached to a central actuating plate so that movement of the actuating plate in opposed directions causes the fingers to bend and straighten. An electric motor drives the actuating plate through a pivotable or tiltable linkage so that when one of the fingers engages an object to be manipulated, the plate tilts and continues to move any opposed fingers toward engagement. Each finger includes a base, a lever arm and multiple phalanges operatively interconnected by gears. Pivotal motion of the lever arm is transmitted to the phalanges through the interconnected phalanges and lever arm and rotation of the gears.

Abstract: An end-of-arm tooling device for a robot or like manipulator is provided which, in a preferred embodiment, includes a differential separating a first torsional input into first and second torsional outputs, and two jaws for interacting with a workpiece powered by a separate one of the first and second torsional outputs, and wherein, upon interaction with the workpiece at a predetermined torque level by one of the jaws, the jaw's motion will be stopped and torque will be continually transferred to the remaining jaw.

Abstract: A microgripper for gripping and releasing an object, particularly very small objects. The microgripper includes a support and two cantilevered flexible arms, each of which is mounted on one end to the support. The other ends of the flexible arms are capable of being flexed toward and away from each other. A servomotor, is affixed to the support. There is a slide arrangement driven by the servomotor and which is adapted to move the unmounted ends of the flexible arms toward or away from each other, thereby providing, respectively, a gripping or releasing movement. An apparatus which includes a micromanipulator, the microgripper which is operationally, detachably affixed to the micromanipulator, and a control system which is electrically connected to the motor means whereby the movement of the slide arrangement is controlled.

Abstract: A tool comprising tongs with two pivoted arms and a release system. The two arms each bear, at their respective ends, pressure members. A drive motor causes the arms to pivot with respect to one another, either to close them and thus permit the pressure members to grip the part to be treated, or to open them and permit the release of the part with respect to the tongs after treatment. This tool in addition includes a release system which insures that the two pressure members are well separated from the part after actuation of the opening of the arms. The release system includes a coupling device adapted to actively control the opening and closing of the arms using a fraction of the power of the drive motor. Preferably, this coupling device is an electrically controlled clutch.

Abstract: A wafer processing system includes an autoloader mounted within a load lock for providing batch, cassette-to-cassette automatic wafer transfer between the semiconductor processing chamber and cassette load and unload positions within the load lock. The system provides rapid, contamination-free loading and unloading of semiconductor wafers.

Abstract: Each of a plurality of digits within a reconfigurable end effector is both rotated and maneuvered for grasping by a single small motor coupled to a drive shaft for the digit through a load-responsive two-speed drive arrangement. The drive arrangement couples the motor directly to the drive shaft through a slip clutch for rapid digit positioning for light load or no load conditions on the digit, then alternatively through an oscillating sprag clutch arrangement for incrementing the drive shaft at a substantially different gear ratio for low speed, high force movement of the digit when substantial loads are encountered. High breakaway friction prevents back drive of the drive shaft without the need for braking apparatus. The motor also rotatably drives a turret in which the digit is mounted through a second slip clutch until a desired rotational position is reached.

Abstract: Robot gripper jaw apparatus is disclosed that is suited for grasping a media cartridge in a robot-controlled media library, or for grasping other objects. The gripper jaw apparatus employs a novel circular cam which reduces the amount of torque required to operate the gripper jaws. This allows use of a relatively small servo motor. The use of a circular cam additionally decreases the overall size and complexity of the gripper apparatus as compared to conventional gripper mechanisms. The gripper apparatus provides for an easily controllable robot gripper jaw mechanism for grasping a media cartridge wherein the force applied by the gripper jaw mechanism does not damage the media cartridge being grasped, due to the use of a flat spring which limits the force applied to the media cartridge. In addition, the gripper apparatus does not require that the gripper drive servo motor be reversed in order to release the media cartridge. Therefore, the gripper jaw servo motor need only rotate in one direction.

Abstract: This invention relates to a chuck device with multistage degree of opening composed of an oscillating actuator acting as a driving part and an arm opening or closing mechanism installed at one end part to which an output shaft of the oscillating actuator is projected, the actuator having a plurality of oscillating vanes concentrically arranged within casings, the casing for an inner oscillating vane structure being rotatably supported in respect to the casing for an outer oscillating vane structure so as to form a rotary shaft and at the same time an oscillating vane of the outer oscillating structure is fixed to the rotary shaft.

Abstract: A work pickup apparatus is provided with a pickup main body, at least three pickup segments radially movable from substantially a center of the pickup main body, and a driving motor for driving the pickup segments in a synchronous state to pick up a workpiece.

Abstract: A highly reconfigurable end effector employing three digits, each having two pivoting degrees of freedom and a rotational degree of freedom. The digits have an asymmetrical configuration where two of the digits rotate about an offset axis and the third digit about a substantially non-offset axis allowing the digits to reconfigure about a payload. Each digit employs a strong, tendonless digit actuation mechanism for driving the pivoting degrees of freedom. A differential transmission in the digit actuation mechanism, in conjunction with a double parallelogram configuration formed by the moving segments, provides a selective enveloping or parallel vise grip grasping action of the end effector.

Abstract: An improved double capstan drive allows mechanical amplification for increased power output from stepper motors, servo motors, and other control devices. Tensile members are attached to loads, wrapped around two continuously driven capstan drums, and attach to the stepper motors. The stepper motors, when energized, supply tailing forces to the tensile members which then engage frictionally on the capstan drums. Amplification of forces is achieved. Each wrap provides for slightly less than 2 times amplification of the tailing force with no upper limit to the number of wraps. Elastic bands attach to each wrap of the tensile members approximately midway between the two drums to provide for immediate and responsive release when stepper motors deenergize or reverse direction. Grooves or rings on the periphery of the drums provide tracks for wrapping the tensile member.

Abstract: A gripper for grasping articles in an automatic or semi-automatic handling system includes spring-loaded jaws. No fasteners such as screws, pins, or the like are required to hold the jaws to the gripper assembly. The jaws are moved by way of motor-driven cams. During a grip mode, the cams do not contact the jaws, and the grip is achieved by way of the springs acting against rollers contacting the outside of the jaws. A worm on the motor shaft compresses a spring to buffer the deceleration of the motor. The spring applies a moment to worm gears which mate with the worm on the motor shaft. The gear shaft of each worm gear is operatively coupled to a respective camshaft. In this manner, the cams are locked.

Abstract: A modular dexterous grasping hand comprises three rotatable fingers mounted on the mounting plate of a Stewart platform for rotation about parallel axes extending perpendicular to the mounting plate. The fingers have a generally L shape so that the grasping elements at the distal ends of the fingers are spaced from the rotational axes. The grasping elements can thus be positioned along the arcs of circles centered on the rotational axes, and so form grasping triangles of variable shapes and sizes. The fingers are independently driven by motors mounted to the mounting plate. Positional encoders and pressure sensors may be included in the motor drive control system.

Abstract: The pincers comprise a gripping head (1) and a control device (2). The control device (2) contains a direct-current electric motor (12-13) which is supplied, through a control circuit (38), from a current-feed source (39). In addition, it comprises a commutable system of permanent magnets. The rotor (12) of the motor is integrally locked to an axle (11) which is capable of actuating the gripping head (1), which is installed in the body of the control device (2), and which is displaceable axially between two positions. The stator (13) is installed in such a way as to be free to revolve between two limiting angular positions and is integrally locked to a first part (27-28) of the commutable system of permanent magnets, which is integrally locked to a support (15) of the axle (11). The second part (29-30) is integrally locked to the body of the control device (2). These two parts are attracted to each other when the stator (13) is occupying its first angular position.

Abstract: A robotic end effector is disclosed which makes use of a rotating platen (1) with spiral leads (2,3) used to impact lateral motion to gripping fingers (46,48). Actuation is provided by the contact of rolling pins (54,56) with the walls of the leads. The use of the disclosed method of actuation avoids jamming and provides excellent mechanical advantage while remaining light in weight and durable. The entire end effector is compact and easily adapted for attachment to robotic arms currently in use.

Abstract: A robotic transport and assembly system includes a worktable upon which are supported a printed circuit board conveyor, a controllably displaceable circuit component feed mechanism and a robotic manipulator, mounted on the worktable and having a multi(four)-axis end effector, for controllably seizing an electronic circuit component from the component feed mechanism and placing the seized component on the printed circuit board for surface mounted attachment. The controllably displaceable circuit component feed mechanism, which includes a component feed device and an associated feeder device positioning table, is mounted on the worktable at a position adjacent to the position whereat a printed circuit board is supported for the pick and placement operation of the robotic manipulator. The component feed device controllably supplies a plurality of the components to be seized by the end effector and placed on said workpiece by the robotic manipulator.

Abstract: A prosthesis drive, especially for a hand prosthesis, can rapidly approach the grippers until resistance is sensed and then apply an increased force to the object. For this purpose, two electric motors drive selectively the respective planetary gearing in an arrangement in which the planet wheels of the two gearings engage a common gear between the sun and ring gear of one planetary gearing or the sun and ring gear of the other planetary gearing, the gearings being coaxial with one another and with the motors. A circuit responding to an increase in the current of the high speed motor above a threshold value is provided to control the switchover.

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: 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: In a force controlling system, a movable member fixed to an elastic member applies a force to an object in correspondence with a force reference signal. At this time, an additional force is applied via a driver to the movable member by the positive feedback of the displacement of the elastic member to the driver, so that the reactive force due to the displacement of the elastic member is counteracted by the additional force. As a result, the movable memer applies only a force in correspondence to the force reference signal to the object.

Abstract: A gripping device 10 for providing large moment-carrying capability for handling long cylindrical work-pieces W of a wide range of diameters. The device 10, which may be attached as an end effector for a robotic arm, includes two spaced pairs of parallel jaw type gripping members, 87, 102 and 101, 98. Each gripping member includes a gripping pad 110d with a contour which accommodates the grasping of cylindrical objects of different diameters. Movement of the gripping members between a fully open position (FIG. 3) and a fully closed position (FIG. 4) is controlled by a pair of concentrically arranged inner and outer output drive shafts 56, 59, each of which is provided with a pair of arms (81,82 and 83,84) extending in generally opposed radial directions of the shaft axis and to which a gripping member is pivotally attached near its distal end.

Abstract: A gripping device which simulates the action of a human finger comprises three pivotted sections 3, 5, 7 having the middle section 5 linked to the tip section 7 by a bar 9 so that its rotation causes rotation of the tip section. Rotation of the lower section 3 is preferentially effected by a motor 11 via a sliding cross-head 15, an equalizer bar 18 and a rod 19. If this rotation is stopped by an object 25 to be gripped, the drive transfers via rod 20, crank 21 and rod 23 to the middle section 5, causing the middle and tip sections to rotate and grip the object against the lower portion as shown at 26. A robotic hand comprising four such fingers and a thumb is usable as a substitute for a human hand in a glove-box glove.

Abstract: A device in an industrial robot permitting rapid exchange of tools in spite of the fact that the tools require both electric and pneumatic operating pulses. The robot hand supports a housing and a tool holder attachment rotatably journalled in the housing, a tool holder being detachably arranged in the tool holder attachment. An automatically breakable electrical connection is provided between the housing and the tool holder by means of slip rings, arranged either on the housing or on the tool holder, and collector shoes, making contact with the slip rings, on the corresponding tool holder or housing.

Abstract: An apparatus for handling and moving a plurality of objects such as containers each holding a sample to be analyzed by an analytical instrument contains the following:a. a robotic arm assembly capable of vertical, horizontal and rotational movement;b. gripper mechanism for holding objects attach to the arm of the assembly;c. stepper motors for driving the robotic arm assembly;d. a power source that drives the stepper motors electrically coupled to the motors;e. a sensing system with a feedback loop that monitors the movement of arm assembly, the objects being manipulated by the arm assembly and the force applied to the objects by the gripper mechanism;f. a computer electrically interfaced with the linear stepper motors, the power means and the sensing system with the feedback loop andg. a means for providing operating data input to the computer;operating data is provided to the computer for operation of the autosampler and the autosampler moves the object as directed.

Abstract: An apparatus and method is described for inserting pins in holes wherein either the pin or the hole is chamfered or beveled. One part is vibrated with respect to the other in a plane orthogonal to the direction of insertion. One part is incrementarlly moved in the direction of insertion. When interference caused by the contact is sensed, the magnitude of the interference is determined and used to reposition the center-line of the one part in the orthogonal plane until the pin is fully inserted.

Abstract: An improved gripper for attachment to a robot arm. The gripper system is a stand alone unit with its own controller and has a pair of fingers, both of which are movable in opposite directions. The controller is programmed to direct the operation of the gripper system in response to system input signals. The fingers are controlled by a mechanism for moving the fingers simultaneously in opposite directions with the driving power being supplied by a motor. Feedback from the motor or moving mechanism is provided to a servo mechanism which provides a power signal to the motor through an intermediate amplifier. The servo system compares an input signal from the controller to the feedback signal and causes the motor to move in an appropriate direction.