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) : Cutkosky,Mark R ; Wright,Paul K

PDF Url : ADA126402

Report Date : 15 Jul 1982

Pagination or Media Count : 19

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)

Descriptors :   *MANIPULATORS, *WRIST, *POSITIONING DEVICES(MACHINERY), SETTING(ADJUSTING), DETECTION, DEFLECTION, ACCURACY, DEGREES OF FREEDOM, POSITION FINDING, MONITORS, MICROCOMPUTERS

Subject Categories : Machinery and Tools
      Test Facilities, Equipment and Methods

Distribution Statement : APPROVED FOR PUBLIC RELEASE