Accession Number:

ADA126402

Title:

Position Sensing Wrists for Industrial Manipulators.

Descriptive Note:

Interim rept.,

Corporate Author:

CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST

Personal Author(s):

Report Date:

1982-07-15

Pagination or Media Count:

19.0

Abstract:

A new wrist design for an industrial manipulator is described that exhibits a range of compliant control. This is necessary for large industrial robots that experience a range of tool-lengths and pay-loads. The device has five and a half degrees of freedom and is structurally similar to a previous design by McCallion. Reinforced elastomeric spheres are used in the compliant platform of the unit. These display a monotonically increasing spring stiffness and can be adjusted using a pressurized fluid. Deflections in the wrist are measured using LVDT transducers. A dedicated microcomputer monitors the deflections and modifies robot sequences to correct for long-term errors in repetitive tasks. Author

Subject Categories:

  • Machinery and Tools
  • Test Facilities, Equipment and Methods

Distribution Statement:

APPROVED FOR PUBLIC RELEASE