Position Sensing Wrists for Industrial Manipulators.
CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST
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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
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