DE3464714D1 - Robotic apparatus with improved positioning accuracy - Google Patents

Robotic apparatus with improved positioning accuracy

Info

Publication number
DE3464714D1
DE3464714D1 DE8484115638T DE3464714T DE3464714D1 DE 3464714 D1 DE3464714 D1 DE 3464714D1 DE 8484115638 T DE8484115638 T DE 8484115638T DE 3464714 T DE3464714 T DE 3464714T DE 3464714 D1 DE3464714 D1 DE 3464714D1
Authority
DE
Germany
Prior art keywords
positioning accuracy
robotic apparatus
improved positioning
improved
robotic
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
DE8484115638T
Other languages
English (en)
Inventor
Andre Sharon
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
International Business Machines Corp
Original Assignee
International Business Machines Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by International Business Machines Corp filed Critical International Business Machines Corp
Application granted granted Critical
Publication of DE3464714D1 publication Critical patent/DE3464714D1/de
Expired legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0283—Three-dimensional joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0208—Compliance devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/1015—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using additional, e.g. microadjustment of the end effector
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
DE8484115638T 1984-01-18 1984-12-21 Robotic apparatus with improved positioning accuracy Expired DE3464714D1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US06/572,086 US4595334A (en) 1984-01-18 1984-01-18 Robotic apparatus with improved positioning accuracy

Publications (1)

Publication Number Publication Date
DE3464714D1 true DE3464714D1 (en) 1987-08-20

Family

ID=24286289

Family Applications (1)

Application Number Title Priority Date Filing Date
DE8484115638T Expired DE3464714D1 (en) 1984-01-18 1984-12-21 Robotic apparatus with improved positioning accuracy

Country Status (4)

Country Link
US (1) US4595334A (de)
EP (1) EP0149806B1 (de)
JP (1) JPS60150981A (de)
DE (1) DE3464714D1 (de)

Families Citing this family (30)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61279490A (ja) * 1985-06-05 1986-12-10 キヤノン株式会社 ロボツトハンドのコンプライアンス装置
JPH07121512B2 (ja) * 1985-09-11 1995-12-25 株式会社ブリヂストン 触覚機能を有する駆動装置
US4694230A (en) * 1986-03-11 1987-09-15 Usa As Represented By The Secretary Of Commerce Micromanipulator system
DE3627560C3 (de) * 1986-08-14 1994-12-22 Audi Ag Programmgesteuerte und sensorgeführte Fertigungs- und/oder Montageeinheit, insbesondere Industrieroboter
FR2604938A1 (fr) * 1986-09-25 1988-04-15 Peugeot Tete de positionnement
US4741642A (en) * 1986-11-19 1988-05-03 Phase 2 Automation Safety joint for robotic arm
US4874998A (en) * 1987-06-11 1989-10-17 International Business Machines Corporation Magnetically levitated fine motion robot wrist with programmable compliance
EP0299285B1 (de) * 1987-07-10 1992-09-02 Gregory C. Hirschmann Lineareinheit für eine Montage-Einrichtung der Handhabungstechnik
US4800802A (en) * 1987-08-11 1989-01-31 Lord Corporation Hydraulic remote center compliance device
EP0307550A1 (de) * 1987-09-11 1989-03-22 Schmid & Wezel Schwenkbare Werkzeugaufnahme für Roboter
US4819496A (en) * 1987-11-17 1989-04-11 The United States Of America As Represented By The Secretary Of The Air Force Six degrees of freedom micromanipulator
JPH0763934B2 (ja) * 1987-12-28 1995-07-12 株式会社安川電機 摩耗する工具の摩耗補正方法
DE68903025T2 (de) * 1988-04-22 1993-02-18 Beckman Instruments Inc Robotergreifer mit zusaetzlichen freiheitsgraden.
US5080415A (en) * 1988-04-22 1992-01-14 Beckman Instruments, Inc. Robot gripper having auxiliary degree of freedom
US5020964A (en) * 1989-11-27 1991-06-04 Ford Motor Company Method and apparatus for robotic transfer of workpieces
JP2874238B2 (ja) * 1990-01-23 1999-03-24 株式会社安川電機 多関節形ロボットの制御方法
FR2685243A1 (fr) * 1991-12-23 1993-06-25 Peugeot Dispositif formant interface mecanique interposee entre l'extremite d'un robot et un outil du robot.
DE4214378C1 (de) * 1992-04-30 1993-08-26 Siemens Ag, 8000 Muenchen, De
GB9215265D0 (en) * 1992-07-17 1992-09-02 Ariel Ind Plc Improved mechanism for positioning portable fastener applicators
US5409347A (en) * 1993-03-25 1995-04-25 Heian Corporation Carrying and positioning robot
DE19501711C1 (de) * 1995-01-20 1996-04-25 Fraunhofer Ges Forschung Präzisionsjustiereinrichtung insbesondere für die Mikrooptik und Mikromechanik und Verfahren zur Präzisionsjustierung
FR2730444B1 (fr) * 1995-02-10 1997-04-11 Peugeot Outil associable a un robot pour la pose automatique d'un joint d'etancheite
US5625940A (en) * 1995-02-28 1997-05-06 Budd Canada Inc. Robot compliance device
DE19541880A1 (de) * 1995-11-09 1997-05-15 Otto Leiritz Vorrichtung und Verfahren zum Entnehmen von Teilen mit stationären Roboter- oder Handlingsystemen von bewegten Teilträgern mittels Greifer
ITMI20010262A1 (it) * 2001-02-09 2002-08-09 Salvagnini Italia Spa Giunto elastico bloccabile per robot antropomorfo asservito a macchine industriali in particolare per macchine per la lavorazione della lami
US7371041B2 (en) * 2001-08-30 2008-05-13 Seagate Technology Llc Assembly station with rotatable turret which forms and unloads a completed stack of articles
US6877215B2 (en) * 2001-08-30 2005-04-12 Seagate Technology Llc Compliance mechanism for manipulating a control object
US8716973B1 (en) 2011-02-28 2014-05-06 Moog Inc. Haptic user interface
CN107433575A (zh) * 2017-09-29 2017-12-05 太仓市三源机电有限公司 一种机械手
CN112045082A (zh) * 2020-08-27 2020-12-08 天津泰正机械有限公司 一种机械手液压遥控装置及其齿轮传动机构

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US31581A (en) * 1861-02-26 tiffany
FR1285384A (fr) * 1961-01-12 1962-02-23 Commissariat Energie Atomique Perfectionnements apportés aux appareils télécommandés pour la manoeuvre d'organes à l'intérieur d'enceintes étanches, notamment radioactifs
US3583752A (en) * 1968-01-02 1971-06-08 Ibm Vibratory article handling device
US3888362A (en) * 1973-05-31 1975-06-10 Nasa Cooperative multiaxis sensor for teleoperation of article manipulating apparatus
US3935950A (en) * 1973-09-04 1976-02-03 Quality Steel Fabricators, Inc. Industrial robot
SU831606A1 (ru) * 1979-03-05 1981-05-23 Институт Технической Кибернетикиан Белорусской Ccp Модуль промышленного робота
NL7901956A (nl) * 1979-03-12 1980-09-16 Leuven Res & Dev Vzw Verplaatsingsbesturingsinrichting.
FR2482508A1 (fr) * 1980-05-14 1981-11-20 Commissariat Energie Atomique Manipulateur et support d'orientation motorise pour un tel manipulateur
SU906687A1 (ru) * 1980-06-25 1982-02-23 Предприятие П/Я Р-6930 Устройство дл позиционировани руки промышленного робота
US4402053A (en) * 1980-09-25 1983-08-30 Board Of Regents For Education For The State Of Rhode Island Estimating workpiece pose using the feature points method
US4468695A (en) * 1980-11-20 1984-08-28 Tokico Ltd. Robot
US4459898A (en) * 1981-12-09 1984-07-17 Nordson Corporation Streamlined multi-axis robot wrist assembly with partially enclosed hydraulic and electrical lines to minimize the wrist envelope
EP0114505B1 (de) * 1982-12-28 1987-05-13 Diffracto Ltd. Einrichtung und Verfahren zum Kalibrieren eines Roboters

Also Published As

Publication number Publication date
JPS60150981A (ja) 1985-08-08
EP0149806A2 (de) 1985-07-31
EP0149806A3 (en) 1985-08-14
US4595334A (en) 1986-06-17
EP0149806B1 (de) 1987-07-15

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee