Abstract: Preimpregnated fiber reinforced tapes, so-called prepregs, are dispensed and deposited in a molding and bonding apparatus by a device in which a supply spool or roller carrying the tape is supported by a carrier having an adapter for connection to an arm of a conventional industrial robot. The carrier also supports feed rollers for advancing the tape and a cutter for cutting the tape. The feed rollers are secured to a support which in turn is secured to a fixed member by guide elements and biasing springs for a vertical guiding of the support movement. All drive members are controllable, so that all functions can be performed under the control of a computer in accordance with a program stored in the computer. Thus, the tape dispensing, application, and cutting takes place substantially automatically.

Abstract: The present invention discloses systematic methods and apparatus for the design of real time controllers. Real-time control employs adaptive force/position by use of feedforward and feedback controllers, with the feedforward controller being the inverse of the linearized model of robot dynamics and containing only proportional-double-derivative terms is disclosed. The feedback controller, of the proportional-integral-derivative type, ensures that manipulator joints follow reference trajectories and the feedback controller achieves robust tracking of step-plus-exponential trajectories, all in real time.The adaptive controller includes adaptive force and position control within a hybrid control architecture. The adaptive controller, for force control, achieves tracking of desired force setpoints, and the adaptive position controller accomplishes tracking of desired position trajectories. Circuits in the adaptive feedback and feedforward controllers are varied by adaptation laws.

Abstract: An improved remote center compliance (RCC) device having translational and rotational compliance. The RCC device includes at least two spaced monolithic members having a common axis extending therethrough. Adjacent pairs of monolithic members are interconnected by a stage including at least three discrete coil springs spaced about the axis of the monolithic members. Each spring is axially extensible and laterally deformable for providing both rotational and translational compliance about a center of compliance. The improvement includes providing coil springs that are at least partially coil-bound to increase the ratio of axzial stiffness to lateral stiffness of the springs and increase the projection of the center of compliance away from the RCC device.

Abstract: An adaptive compliance system wherein the movement of an orientation stat is controlled in combination with its interaction with an assembly robot to vary the stiffness between the two structures.

Abstract: A 3-dimensional form of a sample product constituted by a plurality of parts having known forms is measured by imaging the sample product from a plurality of directions. Arrangement data representing the 3-dimensional positions and orientations of the parts constituting the sample product are obtained, by a construction detecting module, on the basis of the measured 3-dimensional form of the sample product. A task planning module sets a task for moving a part to be used for constructing a product and the sequence of the task by using arrangement data acquired by the construction detecting module. Upon generation of motion command data for controlling a robot for constructing the product in accordance with the task set by the task planning module, the generated motion command is output to a motion control module. The construction robot is controlled by the motion control module, whereby a product the same as the sample product is constructed.

Abstract: In a compliance apparatus wherein a movable plate movable in a direction perpendicular to the direction of insertion of a gripped part is provided on a portion in which a robot hand is mounted to a robot arm to thereby enable relative displacement of the robot hand and the robot arm, a plurality of cylinders of which the extended end positions are adjustable and of which the protruding force can be changed by a spring or fluid are opposed to one another as positioning devices for the movable plate and sandwich the movable plate therebetween.

Abstract: Apparatus for determining when the hand of a robot arm, resiliently mounted on a robot arm body, strikes or makes contact with an object that impedes or limits its movement, employs an optical fiber in place of conventional light focusing optics to produce a compact and ruggedized robot arm member relative movement sensor. The apparatus includes a light source mounted in a particular location on the robot arm hand and a light sensitive device spaced from the light source and mounted in a particular location on the robot body, a device that is capable of continuously generating a hand-to-robot arm body relative position signal in response to the particular location of collimated light from the robot hand mounted light source that passes through a light collimating optical fiber and strikes the light sensitive surface of the light sensitive device.

Abstract: Apparatus for determinig when the gripper or hand of a robot arm, resiliently mounted on a robot arm body with a set of highly compliant springs, strikes or makes contact with an object that impedes or limits hand movement. The apparatus includes a light source, preferably mounted in a particular location on the robot arm hand and a light sensitive device cooperatively mounted in a particular location on the robot arm body, a device is capable of continuously generating hand-to-robot arm body relative position signals in response to the position of optically focused light from the light source impinging on the light sensitive device. Relative movement between the robot arm body and the robot hand normally resulting from contact between a motion impeding object and the robot hand causes the light sensitive device to generate a signal indicative of such object contact and/or extent of relative hand-to-robot arm body movement.

Abstract: The device has primary and secondary frame members interconnected by extensible and retractable positioning members connected by fluid circuits that cause extension of the member at either end of a circuit in response to retraction of the member at the other end of the circuit. Relative movements of the positioning members occur in response to the imposition of forces and moments at the projected center of compliance upon a pin or the like supported by the secondary frame member, and so adjust the position of the secondary frame member as to cause translatory and rotative movement of the supported pin.

Abstract: Robotic tooling is connected to a robot arm with a device including a set of support members connected together to provide for relative axial movement and rotary movement of the tooling in addition to relative lateral movement in two perpendicular directions from a home or normal position. The members are biased to a precise normal position by pressure biased telescopic plungers confined within mating and opposing recesses, and a set of linear transducers sense movement along each of the three axes and also rotary movement to provide a feedback for the robot control.

Abstract: An apparatus which acquires individual articles having a substantially cylindrical aperture therein from a supply of roughly aligned articles in a storage bin. The apparatus grips the article on the interior wall of the cylindrical aperture therein. The gripper is moved to retract the article from the storage bin. The article is then moved to a receiving member which aligns the longitudinal axis of the cylindrical aperture of the article substantially parallel or coincidental with the longitudinal axis of the receiving member.

Abstract: A movable apparatus drive system comprises a driving device for the movable apparatus, a first output device for detecting environmental information around the movable apparatus and for outputting a corresponding signal in response to the environmental information data, a second output device for outputting a command signal to drive the driving device so as to move the movable apparatus to a target position, based on target position data of the movable apparatus to be moved and current position data of the movable apparatus; and a supply device for supplying a composite signal constituted by the environmental information data and the command signal.

Abstract: A component insertion end effector for robotic equipment is disclosed. The end effector is particularly adapted for printed circuit insertion of electrical component whose relationship between component body and leads varies from the nominal dimensions. The end effector compensates for variations in body-to-lead configurations to permit components to be precisely placed without damaging the component body or its leads. The effector comprises a pneumatic gripping mechanism which is coupled to the robot arm by a compliance mechanism. The compliance mechanism is operable in two states, the first state in which the gripping mechanism is freely movable throughout a predetermined range of movement with respect to the robot arm, and a second state in which the gripping mechanism is fixedly secured in relation to the robot arm.

Abstract: The present invention provides an apparatus and method of utilization thereof of a robot with a floating arm. The floating arm aspect of the robot allows the robot to align its associated tooling with the workpiece in situations where the workpiece may be in a variety at different locations. By use of the present invention the requirement for use of a vision system to accomplish alignment between the robot and the workpiece is eliminated.

Abstract: An automatic assembly apparatus or robot holds a pin in an instrumented gripper, moves open loop to the "detection region" in which airflow forces, primarily lateral forces, in the vicinity of the hole may be dependably sensed. Relatively large lateral airflow forces in the detection region are sensed and the pin is moved toward the hole. The airflow forces exhibit an abrupt force change as the pin reaches the insertion point within the "capture region" of the hole defined by the mechanical chamfer or significantly extended as a result of the virtual chamfer of airflow through the hole. The insertion point is the point where lateral X,Y force vectors balance to a null, where Z force readings change from complex X,Y,Z force vectors to simple Z force vectors.

Abstract: A controller for a multidegree of freedom nonlinear mechanical system is for applying an adaptive model following control to a nonlinear mechanical system with time-varying parameters which have multidegrees of freedom and a driving source for each of the degree of freedom, and is described by a differential equation of q-th degree.

Abstract: A remote center compliance system for compliantly connecting a robot support arm interface to an operator device interface comprises at least three gas-tight spring bellows interconnecting the interfaces and a connection means for connecting the interiors of the bellows in common to an external variable pressure source. The compliance of the system, both rotational and lateral, may be controlled by the applied pressure. The bellows may also be evacuated so that their resultant collapse locks the support structure and operator device together.

Abstract: This invention relates to a tool support, particularly for a robot, of the type comprising two parts connected together by an assembly of elastic plates which, at rest, are disposed tangentially to a circle concentric to a reference axis of said robot with which the axis of the tool merges, and which, when working, enable that part of said support which bears the tool to move with respect to said reference axis, wherein each of said plates is connected to one of said parts of the tool support via a swivel joint assembly or the like and to the other of said parts via an articulation whose axis is at right angles to said reference axis. The invention is more particularly applicable to automatic machining with displacement of the tool parallel to itself.

Abstract: An automatically-guided, driverless vehicle for handling loads has a selectively openable and closeable load clamp. The clamp is equipped with various sensors for automatically sensing the load and other objects and surfaces surrounding the load, and controlling the movement of the clamp along a load-engaging direction, the vertical reciprocation of the clamp, and the opening and the closing of the clamp in response thereto.

Abstract: A compliant coupling mechaism has a first part (10) connectable to a robot arm (A) and a second part (20) connectable to a robot gripper (G). The mechanism is arranged to allow displacement of the second part relative to first part along a ZZ axis direction, and to allow further relative displacement along and/or about (XX) and (YY) axis directions. A locking device (40) prevents such further relative displacement unless a displacement along the (ZZ) axis direction exceeds a preset amount.

Abstract: An apparatus for moving and positioning a tool for plugging a defective heat exchanger tube of a steam generator in a nuclear reactor includes a base, a plug magazine supported on the base, a guidance mechanism mounting the plugging tool and a positioning mechanism supported on the base and mounting the guidance mechanism. The guidance mechanism is operable to align and position the tool relative to the plug magazine and the defective heat exchanger tube to correspondingly effect, upon operation of the tool, plug loading when the tool is located in a plug dispensing position adjacent to the plug magazine and plug unloading when the tool is located in a plug applying position adjacent to the defective tube. The positioning mechanism is operable to assume folded and unfolded conditions to transfer the guidance mechanism and the plugging tool therewith respectively between the plug dispensing and applying positions.

Abstract: The present invention provides a technique as well as a system whereby through the use of industrial automation, windshields and the like can be inserted into a vehicle which is on a continuously moving conveyor line without stopping the vehicle. Thus, the vehicle is in motion on the conveyor during the insertion. The windshield can be automatically centered for robot acquisition through a unique mechanical device; and, multi-sensor information is converted into real-time path modification signals for robot guidance.

Abstract: The invention relates to an automatic device for processing a product. The device provides an industrial robot with angular movements that drives at the end of its wrist (24) along a programmed rough path a working system (1), a guiding device (11) which provides the exact course desired for the working system (1), a damping system (25) placed between the wrist (24) of the robot and the working system (1), this damping system (25) compensating for the course deviations between the programmed course and the exact desired course. The device can be used for the marking of various products and particularly for the marking of paper reels.

Abstract: There is provided an angular and positional deviation adjusting mechanism of a robot hand comprising a holder secured to an arm, an eccentricity accommodating member urged against the holder by a first spring, and an angular deviation accommodating member biased toward the eccentricity accommodating member by a second spring, a slide member being interposed between the first spring and eccentricity accommodating member to permit sliding of said eccentricity accommodating member, the contact sections of the angular deviation accommodating member and eccentricity accommodating member being formed such as to permit swinging of the angular deviation accommodating member, the biasing force of the first spring belt set to be lower than the biasing force of the second spring.

Abstract: A manipulator for a workpiece, useful in conjuction with a robot, is especially designed for handling forging preforms in a hot furnace. A fluidic type sensor is used to position the structure above a furnace surface on which the preform rests. Air continuously flows through the sensor to cool the sensor and parts of the manipulator, discharging toward the furnace floor near the workpiece. Thus, even though the absolute position and texture of the furnace surface may vary, the manipulator will always grip the workpiece at the same location relative to the surface.

Abstract: A tire supplying apparatus has a self-propelled green tire carrying wagon for carrying a green tire to be vulcanized, a green tire unloading device mounted on the wagon and a green tire receiving stand disposed at a predetermined position located in front of a vulcanizing press or a green tire loading device mounted on the vulcanizing press. The green tire unloading device is provided with an aligning mechanism adapted to hold the unloaded green tire so as to displace it in any radial direction while it is lifted up, the aligning mechanism serving to locate its center in correct alignment with respect to the green tire receiving stand or the green tire loading device.

Abstract: An optical positional sensing apparatus for providing precise position and approach angle of a mobile assembly with respect to a fixed assembly. The apparatus includes a light source and optics to produce a rotating horizontal beam. Optics and a transducer are included which can detect the light beam when reflected back on itself. A corner reflector is affixed to a piece of equipment to which the mobile assembly will travel. The beam is rotated by means of a drive motor. Light hitting the corner reflector is reflected directly back under three circumstances, i.e. when the beam strikes either corner or when the beam is perpendicular to the reflector. A rotary encoder is coupled to the drive mechanism and supplies continuous angular positional data to a microprocessor. The transducer is also coupled to the microprocessor which generates data sets of angular location for each transducer signal. Simple trigonometric calculations provide the desired position and approach angle data.

Abstract: Apparatus and methods for inserting leads of an electric circuit component into correspondingly arranged holes in a printed wiring board by (a) holding the component by a robotic arm adjacent the board so that its leads contact the board under pressure and are in nominal registration in the X and Y directions, and (b) subjecting the board to the combined effect of two vibrating motions which are respectively directed in these two directions, and of which one is superimposed on the other. These two motions are each controlled in frequency and amplitude and differ from each other in a motion characteristic whereby the leads sweep in two-dimensional patterns over board areas respective to their corresponding holes and centrally including them until the leads substantially exactly register with the holes to become inserted therein by the pressure on the leads.

Abstract: A robot wrist for introducing a male part into a bore, the end of the part and/or the opening of the bore being chamfered, and which has an arm connected to the robot, an end piece adapted for carrying the part and connecting elements fixed to the arm and the end piece allowing free movement of the end piece with respect to the arm, and ensuring self centering of this end piece. The connecting elements are magnetized in the direction of their axis and are interposed between the arm and the end piece, disposed so as to attract each other mutually and separated from each other by balls.

Abstract: Apparatus that uses a suction engagement element to transport semiconductor wafers between processing boats and detects when suction engagement has not occurred despite the engagement element having been moved toward a wafer a distance sufficient to enable said engagement, and then adjusts the position of the engagement element relative to the object (e.g., by backing up and trying again or by pivoting the engagement element) to facilitate the suction engagement.

Abstract: A control system for manipulator apparatus having a manipulator arm movable in a plurality of axes utilizes resolved compliant motion control to improve servo response characteristics. The position and velocity of the manipulator arm are controlled using load modeling to account for compliance in the arm and to synthesize feedback signals representing movement of a remote point of the arm to provide a loop bandwidth greater than is possible using feedback signals from inner less remote points of the manipulator that are closer to the drive points. The feedback signals are derived using predetermined combinations of force related feedback signals from the axis drive arrangements and position and velocity feedback signals of the manipulator apparatus at points closer to the main drive and support structure of the manipulator and before certain compliant portions of the manipulator arm.

Abstract: A system for automatically inserting the leads of electrical components into circuit boards is disclosed. In the preferred embodiment, an electrical component is acquired by the robot. The leads of the component have been trimmed and preformed such that they are substantially parallel with respect to each other with the leads differing in length. The robot positions the component at a fixed location relative to the axis of the robot and within the view of an optical sensor such as a TV camera. The sensor determines the location of each of the leads relative to a fixed location. A first rotary motion rotates the component about a selected axis of the robot through a predetermined angle and a second measurement is made. A second rotation positions the component 180.degree. from the original position and a third measurement is made.

Abstract: The problem of re-establishment of initial precision registration of end-effectors used in automatic robotic assembly following failed insertion attempts is avoided due to a positive registration compliant apparatus having a support member including a bearing mount spaced apart from a shaped seat. A holder for holding and mounting electronic components is movably mounted on the support member and extends through the bearing mount. The holder has a portion correspondingly shaped for mating engagement with the shaped seat. The holder is resiliently urged into engagement with the seat. A rotation limiter is provided for limiting rotation of the holder relative to the support.

Abstract: A hand apparatus of a robot which is less likely to be damaged and can offer a reliable and effective gripping of a workpiece. The hand apparatus comprises a main frame which is mounted to a wrist member through a plurality of damper couplings. Pivotally mounted to the main frame are a pair of four-point-articulated link arms each having two arms extending parallel to each other. A sub-frame having a finger mounted thereon for pivotal movement in every direction is pivotally mounted to the leading end of the respective link arms. A pair of hydraulic cylinders are provided for moving the link arms in a gripping operation.

Abstract: A robotic apparatus having five degrees of movement with a mounting plate, a first stage platform movably mounted on the mounting plate to shift in the X direction, and also rotate about the X axis, a second stage platform movably mounted on the first stage platform to shift in the Y direction, and also rotate about the Y axis, a third stage platform movably mounted on the second stage platform to move in the Z direction, and powering means to move and rotate the aforementioned elements in the manner described.

Abstract: A robot or other manipulator has an end effector useful for gripping a part and performing an assembly operation to a second part, the assembly requiring, for example, an insertion and a rotation motion. A sensor is mounted between the manipulator and the end effector and comprises a pair of telescoping sections mounted for relative axial and rotational movement with springs for normally inhibiting any movement beyond a range caused by normal assembly forces. An excessive force caused by the failure of the parts to join normally results in a relative axial or rotational movement which is sensed by one or more cam operated switches. The switches are arranged to yield a plurality of signals which contain coded information on the specific type of overload movement. The information can be used by a robot or manipulator controller to stop the assembly operation and then to make the appropriate movements to solve the problem or to simply indicate to an operator the type of malfunction.

Abstract: A manipulating unit is disclosed comprising a housing (5) in which there are (a) position sensing means (7, 2a, 2b, 2c, 2d, 3a, 3b, 3c, 3d) for sensing the position of a member in the housing, which member is coupled locally to gripping means, and (b) actuating means (4a, 4b, 4c, 4d) coupled to the sensing means and the member for producing movements of the member within the housing.

Abstract: A system to measure geometric and electromagnetic characteristics of objects. Wave energy of a single frequency (or very narrow band of frequencies) is directed upon an object which reflects (or otherwise interacts with) the wave energy. The reflected wave energy is sensed by many spatially spaced sensors to provide electric signals whose amplitude and phase components are combined to give a quantity from which geometric and/or electromagnetic characteristics of the object can be ascertained.

Abstract: A robot arm attachment tool for handling workpieces, such as information recording disks. The tool is self aligning, has enhanced load handling load capacities and is able to handle workpieces having sensitive surfaces without damage to same. The tool is attached to the robot arm so as to allow the main portion of the tool to translate freely in a horizontal plane and to freely pivot about a center axis of the tool. The tool centers itself over a workpiece to be lifted, and has a pressurizable chamber having a piston for allowing powered removal of workpieces which is connected to housings which in turn engage workpieces to be lifted. In operation, the robot arm first generally centers and lowers the tool over the workpiece. The tool then precisely centers itself over the workpiece. The free attachment of the tool allows the tool to tilt and translate in a horizontal plane as the tool comes in contact with the workpiece, for a precise fit.

Abstract: A remote center compliance (RCC) gripper system including: an erectable RCC device including a compliance unit having a plurality of compliance members; an articulated gripper mechanism interconnected with one end of the compliance unit and including a base having a generally centrally disposed joint and having a plurality of fingers extending therefrom; and apparatus for applying a force to the centrally disposed joint to fix the joint and erect the RCC device.

Abstract: A five axis compliant device for use as an industrial robot end-of-arm tooling. This device compensates for the inherent positioning and repeatability inaccuracies found in a robot and therefore allows the robot to be applied to work requiring high accuracies such as screw and nut insertion, close tolerance pin insertion and hole deburring.

Abstract: A programmable force assembler for robots includes a bi-directionally actuatable slide member. A microprocessor is programmable for controlling insertion force independent of the distance moved by the slide member. A position indicator transmits slide member distance signals and velocity information to the microprocessor. A pressure transducer is connected to the bi-directional actuator and is coupled to send signals to the microprocessor. A supply valve is connected to the bi-directional actuator and is coupled for receiving signals from the microprocessor in response to the pressure transducer signals.

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 robotic height sensor employs the defocussing of a spot of light to detect the motion of a probe contacting a reference object. The defocussing changes the electrical output of a photodetector which output is used to control a height drive mechanism. In a preferred embodiment of the invention, an intentional weakened portion of a shaft is provided for permitting limited lateral freedom of the shaft to accommodate minor irregularities in a workpiece.

Abstract: A drillhole centerline determining interposer having a central cavity enables a robot to probe the interposer to learn the location and orientation of the desired drillhole. The interposer is a mushroom shaped device with a planar head and a stem dimensioned to fit snugly in the hole to be drilled. The interposer, in addition to the planar head from which the perpendicular can be calculated through multiple probes, has a central pocket concentric to the interposer stem.The method of using the drillhole centerline determining interposer is to place a number of such interposers manually in position in holes in a master part located in the work envelope of the robot. The robot operator prepositions the probe at an initial position facing the cavity of the interposer for a drillhole locating sequence for the related drillhole. In sequence, the robot moves the probe from the initial position sufficient to clear the edge of the cavity and by multiple probes determines the plane of the interposer surface platform.