Compliance system for industrial manipulators

Details Compliance system for industrial manipulators Compliance system for industrial manipulators

B - Operations, Transporting

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B25J 11/00 (2006.01) B23P 19/00 (2006.01) B25J 9/14 (2006.01) B25J 13/08 (2006.01) B25J 17/02 (2006.01)

Patent

CA 1214807

ABSTRACT OF THE DISCLOSURE A five and one-half degree of freedom adjustable compliance system exhibits a range of compliant control useful for large industrial manipulators which experience a range of tool lengths and payloads. Reinforced elasto- meric spheres provide monotonically increasing spring stiffness and can automatically be adjusted for a desired stiffness range through pressurized fluid. Local position sensing of the robot gripper is achieved by linear variable-differential transformers. The output is analyzed by a microcomputer for possible readjustment of the man- ipulator.

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