Abstract: A segmented gripper is provided, having two arms (2;3) which are operated for closing and opening movement in an operational plane. The arms are flexible in the way of a finger; i.e. the geometry is variable to adapt to the external shape of the article to be gripped. This is accomplished by providing a structure for the arms, wherein an outer row of pivotally connected links (6) is interconnected with an inner row of pivotally connected links (7), the interconnecting elements (8) being pivotally attached to the link connecting points of each row of links. The lengths of the interconnecting elements are successively decreasing towards the free end of each arm, so that the arm displays a claw-like configuration. The arms are pivotally attached on a support, so that when an actuating force is applied tangentially to the outer row of links, the arms are operated for a closing motion.

Abstract: The invention provides a robot hand that can mimic the movements of a human hand in operation. The robot hand includes a thumb and at least one opposing finger having at least two phalanxes connectable to each other by a distal phalanx joint. The thumb of the robot hand also includes a joint which allows the thumb to move transversely with respect to the opposing fingers. The robot hand can also include one or more additional fingers disposed on an opposite side of the thumb. The robot hand can be operated mechanically or electrically through controlling motors.

Abstract: The present invention is an apparatus and method for automatically realigning an end effector of an automated equipment after an undesired contact of the end effector to prevent a crash of the end effector. The present invention includes a plurality of contact detectors, and each of the contact detectors is disposed at a respective location with respect to the end effector. In addition, each of the contact detectors generates a respective signal for indicating direction of force on the end effector that results from the undesired contact. Furthermore, the present invention includes an end effector controller that is coupled to the plurality of contact detectors and to the end effector. The end effector controller causes the end effector to move to a reset position after the undesired contact when any of the respective signals from the plurality of contact detectors is greater than a predetermined level.

Abstract: In a method of inserting, into a board, axial-type electronic components, wherein each of the electronic components has a pair of lead wires extending from a main body and belongs to an assembly of electronic components connected by a tape as arranged at regular intervals, the components are grasped with a plurality of chucks which are intermittently moved to a component supplying position and a component transferring position, respectively. Each of these chucks comprises grasping pieces having first and second grasping grooves, the first grasping grooves having inner surfaces for grasping end portions of each of a first kind of the components whose taped portions are of a first tape interval, the second grasping grooves having inner surfaces for grasping end portions of each of a second kind of the components whose taped portions are of a second tape interval smaller than the first tape interval, the second grasping grooves being slightly deeper than the first grasping grooves.

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: The present invention generally provides a robot that can transfer two workpieces, such as silicon wafers, simultaneously and at increased speeds and accelerations and decelerations. More particularly, the present invention provides a robot wrist associated with the robot arm for mechanically clamping a workpiece to a workpiece handling member attached to the arm. The wafer clamp selectively applies sufficient force to hold the workpiece and prevent slippage and damage to the workpiece during rapid rotation and linear movement of the handling member. In one embodiment, a clamp for securing silicon wafers uses two clamp fingers connected to a single flexure member to position and hold the wafer with minimal particle generation and wafer damage. The clamp is designed so that wafers are normally clamped except near fall extension of the workpiece handling member to deliver or pick up a wafer.

Abstract: A substrate transferring apparatus comprising support members for supporting a substrate, and a drive mechanism for moving the support members to transfer the substrate, wherein the support members each have a pair of outer support segments for supporting an outer periphery of the substrate and a pair of inner support segment provided between the outer support segments.

Abstract: An apparatus for handling and transporting plate like substrates comprises a first flat carrier member and a second flat carrier member, the second flat carrier member being arranged at least along one side wall of the first carrier member, the first and second carrier members being arranged horizontally and provided with at least four vertically extending guiding members, arranged at spaced locations to each other in two sets of at least two guiding members each, whereby each carrier member comprises at least one guiding member of each set of guiding members, the first and second carrier member being mounted on a robot and moveable relative to each other in a longitudinal direction.

Abstract: A wire-and-pulley drive link mechanism such as a robot hand, comprising a base, a linkage connected to said base by a first joint and having a first link and a second link connected by a second joint like fingers. The base carries motors for individual links. A wire-and-pulley drive system is provided such that said linkage moves relative to said base and said first link moves relative to said second link moves when driven by said motors. The wire is made of amorphous material and a coil is wound on each of the wires to detect stress or tensile force by sensing a change of magnetic permeability generated when the wire is subject to external force. A control system having a joint servo is provided and determines a manipulated variable to be supplied to the motor based on at least the detected stress and a servo gain.

Abstract: A device for mechanically picking and palletizing rectangular objects of various sizes for attachment to a robotic arm. The device includes a pair of rails having a plurality of longitudinally spaced, elongated L-shaped grips extending there through. The distance between the respective rails can be adjusted to accommodate various width containers. The L-shaped grips are capable of pivotal rotation such that their grip ends rotate under the object for picking and palletizing. A pair of pallet hooks having suction cups attached thereto is also provided on the device.

Abstract: A gripping tool assembly disposed on the wrist section of a robot for gripping and moving various objects between a pick-up zone and a drop-off zone. The gripping tool assembly includes a frame having a top portion and a bottom portion with a pair of parallel lift arms secured to the bottom portion of the frame and projecting outwardly from the frame for supporting the object. A clamp is movably mounted to the frame for vertical movement between the top and bottom portions relative to the lift arms to sandwich the object between the clamp and the lift arms. The gripping tool assembly is characterized by a pusher movably mounted to the frame along a hollow tine. The pusher is mounted to a lead screw disposed within the tine wherein the lead screw horizontally moves the pusher relative to the lift arms for pushing the object toward the distal ends of the lift arms.

Abstract: A pill dispensing system includes a shelving unit in array form that holds a number of bulk containers, each holding a bulk amount of a pill to be dispensed. A computer controlled robot removes a selected bulk container and places it on a counter that also dispenses pills. The robot has an arm with a free end portion that can grip a bulk container or a single pill bottle to be filled. The robot is computer controlled to retrieve an empty pill bottle, place it on a label printing and applying unit, then place it next to the counter/dispenser to receive the selected number of selected prescription pills, then place the filled, labeled bottle on a conveyor.

Abstract: A system for transporting an article between a loading station and an inspection stage includes a novel support for safely retaining the article during transit. The support includes a number of article-retaining members, at least one of which is connected to an actuator. The actuator clamps the article between the article-retaining members during transit. To ensure that the article is not dropped or damaged during transit, the system includes an un-clamp sensor connected to at least one of the article-retaining members. The un-clamp sensor is connected to a robot controller so that the system may be shut down immediately should the article become unclamped during transit. The system also includes novel loading and inspection stages that ensure proper orientation and placement of articles prior to transit from one to the other, further reducing risk of damage to transported articles.

Abstract: In an apparatus for operating a robotic device (1), preferably in minimally-invasive surgery and/or robotics, at least one movable robotic part (11; 12) of the robotic device (1) is connected to a first holding part (60) by way of a first, flexible connecting part (51.sub.1) of a hinge joint (5.sub.1) Moreover, the movable robotic part (11; 12) is connected to a second holding part (61) by way of a second, flexible connecting part (52.sub.1) of the hinge joint (5.sub.1). This connection is produced in such a way that, when the first holding part (60) moves relative to the second holding part (61) or vice versa, the robotic device (1) pivots the first holding part out of its initial position, and when the part (60 or 61) that has been moved relative to the other part has been brought back, the device restores the part to its initial position.

Abstract: An apparatus having short range motion for gripping and releasing an object utilizes a programmable stepper motor for controlling various short stroke motions of the gripper. Gears associated with each of the at least one gripper jaws supported on a carrier shaft engage a common ring gear that is driven by drive means including the stepper motor which imparts synchronous motion of the grippers for opening and closing about the object.

Abstract: An apparatus and a method for baking and cooling silicon substrates are disclosed. Both baking and cooling of silicon substrates are done in a single integrated thermal process module. Each thermal process module includes two hot plate assemblies, a cool plate assembly, two local linear transfer arms and a micro-processor based module controller. Both transfer arms are capable of transferring substrates among the cool and hot plate assemblies. The module controller ensures that there are no conflicts in use of the transfer arms or in use of the hot and cool plate assemblies and so that a transfer arm is always available when a substrate is finished baking. A central substrate handling robot transports substrates only from and to the cool plate assembly of the thermal process module. Also, the vacuum tubing is routed via a unique pulley arrangement to achieve compact mounting and eliminate loose tubing.

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: An apparatus and method having short stroke motion for gripping and releasing an object utilizes a programmable stepper motor for controlling various short stroke, generally arcuate motions of the gripper. Gears associated with each of the at least one gripper jaws supported on a carrier shaft engage a common ring gear that is driven by drive means including the stepper motor which imparts synchronous motion of the grippers for opening and closing about the object.

Abstract: In an automatic medicament dispensing machine, a vial gripper mechanism includes a rotatable first jaw and a second jaw coupled with the output shaft of a jaw motor. In an open position, the jaws are spaced for receiving a medicament vial therebetween. Actuation of jaw motor rotates the second jaw toward the first jaw for gripping the vial therebetween in a gripping position. Continued rotation of the jaw motor causes rotation of both of said jaws and any vial gripped therebetween to a dispensing position for receipt of medicament into the vial from an adjacent dispensing cell.

Abstract: A robot gripper comprising a pair of gripper surfaces with flexible, non-elastic membranes disposed on each gripper surface respectively, these membranes being comprised of cubic cells filled with compressible fluid, so that when each gripper surface makes contact with the object to be lifted, they simultaneously compress and lift the object whereby the friction between the object and the gripper surfaces generates a shear force which distorts the membranes. As the compression and lifting forces are simultaneously increased, the distortion to the membranes will also increase until the pressure inside the cubic cells is large enough to provide sufficient friction force to lift the object.

Abstract: An apparatus for handling a cartridge having a cartridge notch formed therein in a storage library system includes a hand frame adapted for receiving cartridges and a reach carriage assembly movable along the hand frame assembly. A latch arm assembly is pivotally connected to the reach carriage assembly and includes a latch tooth thereon for selectively engaging the cartridge notch. The latch arm assembly is pivotally movable between a latching position, wherein the tooth is positioned for engagement in the notch, and a put position wherein the latch arm is positioned for pushing the cartridge out of the hand frame. Cam devices are provided for pivoting the latch arm assembly between the put position and latching position.

Abstract: The invention relates to an arrangement (6) which functions to grip and hold, or release, material (3) with the aid of a number of movable gripping devices (51, 52). A part (57c) which is intended for coaction with the gripping device (51) has a first supportive surface (57g) and a first through-penetrating hole (57h), and the gripping device includes a narrowed part (51a) which, among other things, provides a second supportive surface (51b) which can face towards the first supportive surface (57g). The two supportive surfaces are adapted to abut one another. The gripping device also has a second through-penetrating hole. The centre line (71, 71') of the two holes can be coordinated for common coaction of the holes with a screw (72).

Abstract: A multiposition locking mechanism for use in industrial grippers capable of restraining substantially infinite forces including: an angular or conical surface; a locking part; a release part; a force surface for establishing locking forces; a plurality of cylindrical or spherical parts such that the mechanism is capable of moving and locking and releasing a jaw device at more than one discrete point with a maximum of one motor device operatively attached to the jaw device.

Abstract: An apparatus for transferring a wafer in a semiconductor manufacturing process, and for carrying a wafer between a cassette and a wafer chuck without an additional tool such as a tripod. The apparatus includes: a holder capable of holding the side of the wafer; a wafer transfer assembly including an actuator of the holder and a detector that detects a malfunction of the holder; and a process reactor having a vacuum exhaust port installed under a wafer chuck so as to guide gas in an axially-symmetric flow pattern. The holder grasps the rounded side of a wafer. Removal of additional tools makes the structure of an overall system more simple and an exhaust port can be installed under the reactor so as to cause processing gas to be guided in an axially-symmetric flow, resulting in an enhancement of the process uniformity.

Abstract: An apparatus is provided for performing surgical tasks during laparoscopic procedures which includes an elongated body, a mechanical hand operatively associated with a distal portion of the elongated body and including a plurality of articulated fingers, and an actuation assembly operatively associated with the proximal portion of the elongated body for controlling the operation of the mechanical hand.

Abstract: A robot having a vision system for sensing an image of a manipulated object is described. The system includes a robot with an end effector, a transparent gripper mounted on the end effector, a camera for sensing an image of a manipulated object, and an image processing apparatus for processing sensed image data to correct the image data for optical distortion, such as refraction-induced image shifts. Three dimensional image information may be retrieved by including a light plane source and adapting the image processing apparatus to perform three-dimensional image processing.

Abstract: This invention provides a finger with three phalanges and three degrees of freedom for a flexible and versatile mechanical gripper which uses only a limited number of actuators. The finger is robust, can provide large grasping forces and can perform power grasps as well as pinch grasps. The mechanism used in the finger has an additional mechanism maintaining the last phalanx orthogonal to the palm in order to allow the gripper to perform pinch grasps on objects of different sizes. For purposes of fine control, tactile sensors as well as potentiometers are included in the finger. The mechanical gripper designed using these fingers allows the stable grasping of a wide class of objects while specifying only two coordinates (the force or position for closing the whole finger and the orientation of the finger) for each of the fingers. The mechanical gripper has three fingers and three phalanges per finger.

Abstract: A robotic gripper with two fingers for friction gripping. The fingers are self-locking in that an increased resistance to a pulling force results in an increased gripping force. The fingers are mounted onto a thumb that slides in a sleeve. A post extends into slots in the fingers so that movement of the post relative to the thumb causes the fingers to rotate around pivot points on the thumb. The friction force required to move the thumb relative to the sleeve is greater than the friction force required to move the post relative to the thumb. Therefore, movement of the post typically results in rotation of the fingers and a stationary thumb, but there are several ways in which the post can be locked relative to the thumb to provide movement of the thumb relative to the sleeve. The sleeve also includes features so that if an object is being gripped as the post is moving away from the sleeve, the fingers do not grip when the post is retracted.

Abstract: A method and apparatus for making wire harness. The apparatus includes the use of a sequential wire processor that serially and sequentially fabricates circuits having terminal ends. The terminated circuits are transferred by a transfer means to an upstanding carousel provided with arrays of circuit-receiving clips. The transfer means receives terminated circuits from the sequential wire processor and places them on the clips of the carousel. The carousel is then moved to an assembly line and robotic station where robots remove the circuits from the clips of the carousel and place the terminated ends of the circuits in cavities of connectors strategically located on the assembly line. The robots have end effectors that physically insert the terminal ends into the connector cavities.

Abstract: An arm member having a folding expansion/contraction mechanism is fixed to a rotary shaft. A support member is rotatively mounted on the distal end of the arm member. This support member maintains a constant relationship with the rotary shaft. An auxiliary support member is mounted on a support shaft fixed to the support member, the auxiliary support member being able to swing. A cam mechanism is provided at rotation portions of the support member and auxiliary support member. The auxiliary support member is swung by this cam mechanism in accordance with a folding expansion/contraction motion of the arm member.

Abstract: An axial type electronic component inserting apparatus inserts into specified holes of a board an axial type electronic component having a pair of lead wires.

Abstract: A wafer gripper assembly comprises first and second gripping members movably supported relative to each other. A motor propels the gripping members linearly towards and away from each other. Preferably both gripping members are movably supported, and a rotary-to-linear translator produces equal and opposite linear movement of the gripping members. Typically, at least six contactor elements are defined on the pair of gripping members. The contactor elements include a vertically extending portion having an inwardly facing convex surface for contacting an edge of a wafer, and an inwardly extending flange for supporting a lower surface of the wafer.

Abstract: A handling device for mechanically gripping, holding, moving or otherwise handling objects of any shape having a defined or undefined position, in particular for handling equipment such as industrial robots, consists of a large number of holding pins which are lowered onto the object to be held, are movably mounted in the longitudinal direction in bores of a holding pin guide plate, and are used to clamp the objects. The objects are released once again by pushing back the holding pins by an ejector plate.

Abstract: A robotic gripping device comprises a fixed frame, and a hold down plate vertically moveable in relation to the fixed frame between a raised release position and a lowered hold down position. A moveable support platform retained by the fixed frame is moveable between an extended position where the support platform is opposed to the hold down plate to permit the retention of packages therebetween, and a retracted position where the support platform is no longer opposed to the hold down plate. The support platform further comprises pairs of generally parallel side members, with roller members disposed between each pair of side members, and a belt member looped around the roller members. A package receiving portion of the belt member faces the hold down plate when the support platform is in its extended position.

Abstract: A robotic grasping manipulator includes a support base, a pair of fingers disposed on the base which extend forwardly a certain distance therefrom, and a two-degree of freedom elongate thumb. The thumb is pivotally attached at a proximal end to the base to extend generally forwardly therefrom, and terminates in a distal end tip which may be moved vertically and laterally with respect to the fingers to thereby enable holding objects between one or both fingers and the thumb. The fingers are moveable in a plane toward or away from each other, and include tip sections which are pivotable downwardly in a direction generally normal to the plane of movement of the fingers. A unique linkage apparatus intercouples the fingers with the base such that a non-pivotal, back-and-forth-moving piston rod can be used to move the fingers. The fingers contain gripping structure including rigid, pointed protuberances interleaved with flexible, blunt protuberances which are longer than the rigid protuberances.

Abstract: A gripper is provided for mounting to a distal end of a robotic arm for gripping a workpiece having a pair of spaced apart longitudinally extending contoured faces and at least two extending cylindrical bores, each cylindrical bore having an inner surface, the gripper including a base, a pair of spaced apart longitudinally extending stabilizing members each affixed to the base, each of the stabilizing members having an engagement surface adapted to abutting engage a respective contoured face of the workpiece, at least one pair of opposing clamping arms, each clamping arms being pivotal from a first position wherein the clamping arm is disposed adjacent a respective cylindrical bore to a second position wherein the clamping arm abuttingly engages the inner surface of a cylindrical bores, a pair of biasing cylinders means connected to one of said pair of clamping arms for moving said one clamping arm from said first position to said second position, a pair of spaced apart compliant devices affixed to the base f

Abstract: A robot arm end effector in the form of a multi-fingered hand having a conformable grasp. Each articulating finger includes multiple phalanges sequentially interconnected by pivot points such that each finger articulates in one plane. One filament pair, which controls finger articulation within the plane, is routed through a respective finger by a system of pulleys and is controlled by a DC motor. Driving the associated motor in a first direction causes a respective finger to articulate in a first direction within the plane. Reversing the motor direction causes the respective finger to articulate in a second direction within the plane. Individual phalanges articulate independently of the motion of adjacent phalanges. A second filament pair may be employed to pivot a respective finger about a base axis resulting in out of plane motion of the finger.

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: This apparatus comprises a mechanically simple and lightweight tractor mechanism for use with a robotic object handling system to retrieve objects from a plurality of object storage locations. A finger gripper mechanism is used to grasp an object with a predetermined amount of force. The finger gripper mechanism is enclosed by a substantially rectangular box-like enclosure. The finger gripper mechanism is attached to a carriage which is moveable along one axis of the rectangular enclosure on a pair of tracks, which tracks are located one on each of two opposite sides of the interior of the enclosure. The carriage rides on these tracks and is transported from a retracted position entirely within the enclosure to an activated position juxtaposed to an opening in the enclosure by a tractor mechanism that makes use of a pair of toothed belts, each belt being juxtaposed along the length of one of the tracks on which the carriage slides.

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: A picker mechanism (80) selectively grips and transports a data storage cartridge (62) in an automated library (30). The picker mechanism (80) has a picker frame (400) comprised of two half shell members (402, 404). Substantially all active elements of the picker are mounted to a base half shell (402) over which a cover half shell (404) mates for enclosing substantially all active picker elements. The active picker elements include a pair of gripper fingers (406) pivotally mounted to the picker frame. Each gripper finger (406) has a portion thereof configured to engage a data storage cartridge. The picker frame also carries a displacement path (e.g., leadscrew 418) along which a carriage member (e.g., leadscrew nut 426) travels. A motor (414) is provided for driving the carriage member (426) along the displacement path. A pair of biasing springs (432), one for each gripper finger (406), are provided for biasing the gripper fingers in a direction toward the displacement path.

Abstract: An apparatus for overturning a long-web roll comprises chucks for holding the long-web roll, which is placed on a first resting surface, by nipping an outer circumference of the long-web roll from both sides in the radial direction, and stop plates capable of being set at supporting positions that stand facing a front end face of the long-web roll, which is held by the chucks, the front end face being directed towards the side of a second resting surface. A rotating transfer device rotates the stop plates and the chucks together with each other by an angle of approximately 90.degree. and thereby places the long-web roll, which is held by the chucks, on the second resting surface such that the front end face may rest on the second resting surface.

Abstract: An automatic disc handling system and method for retrieving and positioning information carrying discs between a storage position to a position of use is described. A displaceable robot having a pair of robotic arms is controlled by a computer connected to a robot controller and instructed to move to discrete positions, either in front of storage racks where a plurality of superposed sliding trays containing one or more discs are stored, or to a plurality of playback units disposed at a position of use to move selected ones of the disc to and from these positions as requested by a person accessing the discs from a remote station. The robot is provided with a tray engaging element to move the tray in and out of its storage position, and the robotic arms of the robot are each provided with a picker mechanism to engage and remove the discs from the trays or the playback units and transport them to effect a function as dictated by the computer and the robot controller.

Abstract: A robotic system for inserting cylinder liners into the cylinder block from an internal combustion engine includes an articulated robot arm for cycling an end effector between a dunnage unloading position and a cylinder insertion position. The end effector, which is attached to the robot arm, picks liners from dunnage and places the liners in the cylinder bores of the cylinder block. The end effector includes remotely deployable combination teeth for gripping the liners to permit removal from their dunnage and for aligning the end effector and liner into the cylinder bores to permit insertion of the liners.

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: An anatomically correct, humanlike, mechanical arm and hand is provided that an operator can control to perform with the dexterity and compliance of a human hand. Being humanlike and robotic enhances the device's control and gripper dexterity. Control of the movement of the arm and hand is performed or guided by a "teachglove" worn by the operator. As he or she performs some hand manipulation, a controller stores signals from sensors on the exoskeleton. The sensors monitor the operator's finger-joint movement positions. These values are later translated into actuator control signals for servomotors, eventually duplicating the operator's movement.

Abstract: A simple or unsophisticated robot incapable of effecting straight-line motion at the end of its arm inserts a key held in its end effector or hand into a door lock with nearly straight-line motion by gently thrusting its back heels downwardly so that it pivots forwardly on its front toes while holding its arm stationary. The relatively slight arc traveled by the robot's hand is compensated by a compliant tool with which the robot hand grips the door key. A visible beam is projected through the axis of the hand or gripper on the robot arm end at an angle to the general direction in which the robot thrusts the gripper forward. As the robot hand approaches a target surface, a video camera on the robot wrist watches the beam spot on the target surface fall from a height proportional to the distance between the robot hand and the target surface until the beam spot is nearly aligned with the top of the robot hand.

Abstract: This invention provides a hydraulically-actuated pipe clamp for sealing leaks in pipe lines located in remote or hazardous places. The pipe clamp consists of a split block having hinged jaws that may be clamped around a pipe by a hydraulic actuator. The jaws are then mechanically latched in place so that the clamp will remain closed after the hydraulic source has been disconnected.

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 work piece support device features two pincer members which can be moved toward and away from each other and which can be varied in length in manner to accommodate different shaped work pieces. The device is mounted on a manipulator which selectively displace the same in three mutually opposed directions. Location and locking probes can be used in combination with the support device to locate and/or lock the work piece in place.