B - Operations – Transporting – 25 – J
Patent
B - Operations, Transporting
25
J
294/9
B25J 15/00 (2006.01) B23P 19/00 (2006.01) B25J 17/02 (2006.01) H05K 13/04 (2006.01) H05K 13/08 (2006.01)
Patent
CA 2026813
-25- Abstract of the Disclosure A robotic apparatus for positioning a tool or work hand that incorporates a compliant wrist effective to adjust to delicate but misaligned portions of the workpiece, comprising (a) means for magnetically supporting a positioning member carrying a gripper tool; (b) pneumatic means for selectively separating and floating the positioning member from said supporting means to permit lateral adjustment of the positioning member in response to small forces received from the gripper tool as it carries out gripping; and (c) means for locking the positioning member to the supporting means upon completion of the desired lateral adjustment. A method of using such compliant wrist concept, comprising (a) magnetically suspending a positioning plate from a magnet, the plate carrying the gripper tool; (b) injecting a film of air between the interface of the magnet and plate to provide floating separation therebetween enabling ease of lateral movement; (c) closing a gripper tool about the part to be gripped causing any offcenter gripping forces to be translated back to the plate resulting in lateral movement in response thereto for seeking a centering position; and (d) upon achieving the desired centering position, deactivating the air injection to permit the magnet to lock the plate in position relative to the magnet for further robotic movement. 4433L
Abbott Edward H.
Bush Robert E.
Hyatt Robert J.
Shannon Francis J.
Abbott Edward H.
Bush Robert E.
Ford Motor Company Of Canada Limited
Hyatt Robert J.
Shannon Francis J.
LandOfFree
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