Note: Descriptions are shown in the official language in which they were submitted.
01 Background of the Invention
02 The present invention generally relates to a
03 motor-driven manipulating instrument adaptable for being
04 programmed to repeatedly execute a predetermined series of
05 spatial movements. In particular, the present invention is
06 directed to a novel apparatus for generating a series of signals
07 indicative of the specific movements of the instrument, which
08 signals are adaptable for establishing a control program to
09 control the drive motors and hence the movement of the instrument
itself.
11 A manipulating robot instrument usually includes a
12 control arm assembly formed from a plurality of attached members,
13 with a hand attached to an end of the arm assembly for performing
14 predetermined manipulations. For example, the hand may be
employed in precision welding of two auto body parts to one
16 another, thereby freeing a human operator from performing the
17 repetitive and often boring task. However, in order to perform
18 such work tasks, the robot hand must be able to precisely and
19 repeatedly follow a predetermined spatial track.
One such known xotor assembly includes a composite arm
21 assembly which can perform linear movement along two mutually
22 perpendicular axes as well as rotation about one of the axes. As
23 a result, the arm assembly is capable of executing a swivelling
24 movement by combining the linear and rotative movements discussed
hereabove. Furthermore, a hand member attached to such a known
26 robot arm assembly can be rotated about an axis extending in the
27 axial direction of the arm assembly as well as being rotatable
28 about separate axes extending perpendicularly to each of the
29 mutually perpendicular axes, respectively. Finally, a plurality
of separate drive motors are arranged for driving the various
31 component members of the arm assembly as well as the attached
32 hand member.
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01 In order to control the movement of the arm assembly, a
02 control program is required for actuating the various drive
03 motors in a predetermined sequence. In the ~nown robot arm
04 assembly, the desired track is usually divided into a series of
05 linear sections, allowing the track curve to be approximated by
06 straight-line linear movements which can be mathematically
07 programmed. However, such mathematically originated programs are
08 very complex and costly and, more importantly, can only roughly
09 approximate the desired track.
In an effort to provide an assembly which more
11 faithfully reproduces the desired spatial track, a further known
12 robot arm assembly suggests that an elaborate template assembly
13 surround the composite robot arm and hand assembly. The template
14 assembly is formed from a plurality of separate members which are
positioned to follow the precise movements of the aggregate robot
16 arm assembly. The template assembly carries a plurality of
17 switches which are selectively activated upon contact with the
18 various components of the rotor arm assembly. When activated,
19 the switches close an electrical circuit which provides a signal
indicative of a specific robot arm movement; with the signals
21 being used to establish a control program for actuating the robot
22 arm drive motors.
23 The exceedingly complicated layout of the
24 above-referenced template assembly greatly increases the cost of
programming the robot arm. In addition, an unavoidable time play
26 must exist between the movement of the individual rotor arm
27 members and activation of the various switch members, resulting
28 in a significant variation between the actual movements of the
29 rotor arm and the program generated by actuation of the
switches. Furthermore, a further error or fault in programming
31 is directly caused by the dead weight of the template itself,
32 which dead weight can result in switch activation without a
33 corresponding movement of the robot arm. In fact, actual tests
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01 have shown that such programming faults tend to lead to the robot
02 arm following so-called jumpy or step curves rather than the
03 continuous curves often required in welding operations or the
04 like. The outlay required to compensate Eor such jumpy or step
05 movements have made the use of a template commercially
06 unacceptable.
07 As will be discussed in detail hereafter, the present
08 invention provides an apparatus capable of precisely following
09 the manual manipulations of a robot arm assembly and of
generating a signal corresponding to such manipulations, which
11 signal is adaptable for establishing a control program to control
12 the robot arm drive motors for repeatedly manipulating the arm
13 assembly.
14 Objects and Summary of the Present Invention
An object of the present invention is to provide a
16 progxamming device capable of accurately detecting manually
17 actuated movements of a robot arm assembly and generating
18 electrical control signals indicative of such movements, which
19 signals are adaptable for establishing a control program for
operating drive motors to accurately repeat the manually actuated
21 movements.
22 A further object of the present invention is to provide
23 a programming device in the form of a handle having a rigid
24 center portion attached to the robot arm assembly and an outer
sleeve attached to the center portion via a plurality of separate
26 flexible blade portions, with separate force detecting
27 transducers mounted on each of the respective blade portions.
28 A yet further object of the present invention is to
29 provide a programming device capable of generating an electrical
signal in response to linear and/or rotative manipulation of the
31 composite robot arm assembly.
32 Each of these objects, as well as additional objects,
33 is achieved in a preferred embodiment of the present invention,
34 X _ 4 _
~3~0~
01 wherein a handle-shaped device includes a center portion rigidly
02 attached to a motor drive rotor arm assembly. The handle-shaped
03 device further includes a sleeve-shaped member surrounding and
04 connected to the center portion via a plurality of separate blade
05 portions, wherein a first plurality of blade portions extend
06 parallel to a longitudinal axis of the handle-shaped device and a
07 second plurality of blade portions extend along the contour of
08 the device and transversely to the longitudinal axis. A force
09 transducer in the form of a wire strip is mounted on each blade
portion. During operation, an operator merely grasps and moves
11 the sleeve-shaped member to manually manipulate the rotor arm
12 attached thereto. Because the sleeve-shaped member is attached
13 to the rigid center portion via the flexible blade portions,
14 initial movement of the sleeve results in expansion of at least
one of the flexible blade portions and a corresponding expansion
16 in the wire strip mounted thereon. As a result of expanding or
17 stretching the wire strip, it is possible to alter the resistance
18 of the wire to current flowing therethrough. This, in turn,
19 results in the charging level of a control current flowing
throùgh the wire. By carefully noting the changing current
21 levels flowing through the various wire strips, it is possible to
22 accurately detect and reproduce the various linear and rotative
23 movements of the handle-shaped device and robot arm assembly
24 attached thereto.
The detailed operation of the present invention will
26 become apparent from a reading of the following specification
27 taken in conjunction with the attached drawings, wherein similar
28 elements are designated by similar reference numerals.
29 Brief Description of the Drawings
The present invention~can be best understood in
31 conjunction with the attached drawings, wherein:
32 Figure 1 shows a schematic representation of a
33 manipulating instrument including a programming apparatus formed
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01 in accordance with the present invention;
02 Figure 2 shows a partial longitudinal cross-section of
03 the programming device formed in accordance with the embodiment
04 shown in Figure l;
05 Figure 3 shows a sectional view taken along a section
06 line C-D in Figure 2;
07 Figure 4 shows a sectional view taken along section
08 line A-B in Figure 2; and
09 Figure 5 shows a partial longitudinal cross-section of
an alternate programming device.
11 Detailed Description of Preferred Embodiments
12 The preferred embodiment of the present invention will
13 now be described with reference to Figures 1-4, respectively.
14 Movements will be described with reference to Cartesian
co-ordinates designated by the mutually perpendicular axes X, Y
16 and Z. In addition, rotary movements about the X and Y axes will
17 also be discussed hereafter. While a Cartesian co-ordinate
18 system has been employed for describing the present invention, it
19 is evident that the present invention need not be limited to the
Cartesian co-ordinate system but could be described with
21 reference to Polar co-ordinates or the like.
22 Referring now to Figure 1, a manipulating instrument or
23 robot is generally designated by the numeral 22. Robot 22
24 includes a composite arm assembly 26 and a composite hand
assembly 27 attached to an end portion of arm assembly 26. The
26 movements of arm assembly 26 can be divided into separate linear
27 components extending in the directions of the axes X', Y' and Z'
28 as best shown in Figure 1, wherein axis X' extends parallel to
29 the longitudinal axis through arm assembly 26. In addition, arm
assembly 26 can achieve rotary motion about the Y axis as
31 designated by the arrow dy'. Hand assembly 27 includes a first
32 member 27a which can perform rotary movement about the X' axis as
33 - 6 -
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01 denoted by the arrow dx'l in Figure 1. Hand assembly 27 includes
02 a second member 27b capable of performing rotary movement about
03 the Z' axis, as denoted by the arrow dz'. Finally, hand assembly
04 27 includes a third member 27c which can perform rotary movement
05 about an axis extending parallel which can perform rotary
06 movement about an axis extending parallel to the X' axis, with
07 this rotary movement being denoted by the arrow Dx'2. Each of
08 the hand assembly members 27a-c as well as robot arm assembly 26
09 is individually powered by a separate motor assembly to allow for
individual movement of the various arm and hand members as
11 required to move a point P to a tool 25 attached to hand assembly
12 27 along a spatial curve generally designated at 24.
13 An apparatus capable of precisely detecting both linear
14 and rotary movements of arm assembly 26 and hand assembly 27 is
generally designated at 23. As will be described hereafter, the
16 apparatus functions as a programming device, in that apparatus 23
17 provides output signals adaptable for establishing a control
18 program for operating the various motor a~semblies to control the
19 movements of the various arm and hand members described
hereabove. The linear movements of apparatus 23 will be
21 described with reference to the Cartesian co-ordinate system
22 designated by the X, Y and Z axes shown in Figure 1. In
23 addition, apparatus 23 i8 capable of performing rotary movements
24 about the three mutually perpendicular axes as indicated by the
arrows dx, dy and dz, respectively.
26 Referring now to Figure 2, a longitudinal
27 cross-sectional view of apparatus 23 is shown, wherein the left
28 hand portion of Figure 2 provides a cut-away view of a center
29 portion 13 and surrounding sleeve member 14, while the right hand
portion of Figure 2 shows only a cross-sectional view of sleeve
31 14, with center portion 13 shown in the form of a top view.
32 - 7 -
X
~3~
01 Apparatus 23 takes the form of a handle-shaped member,
02 wherein the center portion 13 is rigidly attached to hand member
03 27c and the longitudinal axis of apparatus 23 substantially
~04 corresponds to the Z axis of the above-described Cartesian
05 co-ordinate system. The sleeve member 14 surrounds the center
06 portion 13, with a first end portion of sleeve 14 being attached
07 to center portion 13 via four spaced blade members 15, lS', 15'',
08 and 15'''. Likewise, sleeve 14 includes a second, opposite end
09 portion which is attached to center portion 13 via four
additional blade members 16, 16', 16'', and 16'''. Each of the
11 four blade members 15, 15', 15'', and 15''' are circumferentially
12 spaced substantially 90 relative to one another and are arranged
13 about the Z axis extending longitudinally through center portion
14 13. In a like manner, the four blade members 16, 16', 16'', and
16''' are also circumferentially spaced substantially 90
16 relative to each other about the Z axis extending longitudinally
17 through center portion 13. Each of the blade members is formed
18 of an elastically-deformable material which, in a preferred
19 embodiment, may comprise a metal such as steel or the like.
However, plastic materials capable of elastic deformation may
21 also be employed, for example, but not limited thereto, those
22 materials sold under the trademarks "NYLON" or "DELRAN". It is
23 considered within the scope of the present invention to
24 substitute other materials for the blade members, provided such
materials are capable of the type of elastic deformation
26 discussed hereafter.
27 Turning again to Figure 2, the four blades 15, 15',
28 15'', and 15''' include a pair of blade members lS and 15''
29 positioned on opposite sides of center portion 13 from one
another and a further pair of blade members 15' and 15''' also
31 positioned on opposite sides of the center portion 13 from one
32 another. For purposes of explanation only, it will be considered
33 that blade member 15 substantially faces arm assembly 26, while
34 oppositely disposed blade member 15'' faces away from arm
assembly 16 and substantially in the direction of tool 25. In a C
36 like manner, the further blade assembly includes a plurality of
3t4(~4
01 four separate blades, with blade members 16 and 16'' positioned
02 on opposite sides of center portion 13 From one another and blade
03 members 16' and 16''' also positioned on opposite sides of center
04 portion 13 from one another. Furthermore, in a preferred
05 embodiment of the present invention, each of the blade members
06 16-16''' is axially aligned with respective blade members
07 15-15''' as shown in Figure 2.
08 A first set of data producers is fixedly attached to
09 each of the blade members 15-15''', while a second, separate set
of data producers is attached to each of the blade members
11 16-16''', respectively. In a preferred embodiment of the present
12 invention, each of the data producers comprises an expandable
13 strip of wire extending parallel to the longitudinal axis Z
14 formed through apparatus 23. ~s will be described hereafter,
;15 each of the strips functions as a transducer to provide an
16 electrical signal indicative of the expansion of the particular
17 strip. In particular, blade members 15 and 15''' include the
18 expanding strips designated 7 and 8, while blade members 15' and
19 15''' carry the expanding strips designated 2 and 1,
respectively. Likewise, the blade members 16 and 16 " carry the
21 expanding strips de~ignated 6 and 5, while the blade members 16'
22 and 16''' include the expanding strips 4 and 3, respectively,
23 wherein expanding strips 3-6 are shown in parentheses in Figure
24 3.
In addition, two additional blade members 17 and 17 '
26 are attached to surface portion of center portion 13 positioned
27 substantially half-way between blade members 15-15''' and
2~3 16-16''', respectively. Each of the blade members 17 and 17'
29 extends substantially parallel to the longitudinal axis Z passing
through center portion 13, with free end portions of the blades
31 17 and 17' facing each other. Expandable measuring strips 9 and
32 10 are fixedly mounted on blade members 17 and 17', with a bolt
33 18 being attached to sleeve 14 and projecting into snug
34 engagement with recessed end portions formed on blades 17 and
17'.
~r
36 ~ _ 9 _
~3~
01 A further pair of confronting blade members 20 and 20'
02 are also mounted on center portion 13 as shown in Figure 2. In
03 particular, each of the blade members 20 and 20' extends along
04 the contour of center portion 13 in a direction substantially
05 transverse to the longitudinal axis Z, with the free end portions
06 of blade members 20 and 20' facing one another and with a pair of
07 expandable wire measuring strips 11 and 12 mounted on the blades
08 20 and 20', respectively. Finally, a bolt 19 is fixedly attached
09 to sleeve 14 with an end portion of bolt 19 snugly engaging a pair
of recesses formed in free end portions of blades 20 and 20',
11 respectively. Finally, duct 21 extends longitudinally through
12 the interior of center portion 13 housing one or more electrical
13 wires extending therethrough. As is well-known in the prior art,
14 electrical current can be sent through each of the measuring
strips 1-12, with the resistance of each strip to the flow of
16 electrical current being directly related to the deformation of
17 the particular strip. This means that a predetermined reference
18 signal can be sent through the electrical wires extending through
19 duct 21, with the reference signal passing through the expanding
measuring strips 1-12 attached thereto. If a particular
21 mea~uring strip is caused to expand due to the deformation of a
22 particular blade member attached thereto, resistance of the
23 measuring strip to the flow of electrical current will vary in
24 accordance therewith. As a result, the particular input
reference signal will also be altered in a manner directly
26 corresponding to the degree of expansion encountered by the
27 measuring strips.
28 The altered output from the deformed measuring strips
29 can be fed into a conventional computer assembly capable of
interpreting the change in signal level and establishing a
31 control program which can be used for driving the various
32 electrical motors employed to move arm and hand assemblies 26 and
33 27, respectively. The preparation and execution of the control
34 - 10 -
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01 program makes up no part oP the present invention and is
02 therefore not described in detail herein.
03 The operation of the present invention will now be
04 described with reference to Figures 2-4 in particular. If it is
05 desired to have hand assembly 27 move along the X axis, an
06 operator need merely grasp and move sleeve 14 in the direction of
07 the arrow x, which results in the bending of the particular blade
08 members 15 and 16 and the lengthening of the measuring strips 6
09 and 7 mounted thereon. As a result, resistance of the strips 6
and 7 to the predetermined reference signal extending therethrough
11 will be altered, thus providing an output signal indicative of
12 of movement in the X direction. If it is desired to move hand 27
13 in the opposite direction, the pressure exerted on sleeve 14
14 results in the bending of blade members 15'' and 16'' and the
expansion of measuring strips 5 and 8 mounted thereon. This, in
16 turn results in a change in the resistance of strips 5 and 8 to
17 the flow of electrical current therethrough, which is indicative
18 to the degree of bending of the respective blade portions. In a
19 like manner, if it is desired to move hand assembly 27 in the Y
direction, proper movement of sleeve 14 results in the bending of
21 blade members 15' and 16' and a corresponding lengthening in the
22 measuring strips 2 and 4, respectively. Likewise, if it is
23 desired to move hand assembly 27 in the opposite Y direction, an
24 operator need only grasp and press sleeve 14, resulting in the
bending of blade members 15''' and 16''' as well as the
26 lengthening of mea~uring strips 1 and 3, respectively.
27 If movement in the Z direction is desired, sleeve 14 is
28 pushed upwardly as shown in Figure 2, whereby bolt 18 is caused to
29 press against and deform blade member 17, resulting in the
expansion of measuring strip 9 and the change of a reference
31 signal flowing therethrough in a manner similar to the operation
32 of strips 108. If, on the other hand, sleeve 14 is pulled
33 downwardly, bolt 18 will abut and bend blade member 17' causing an
34 X expansion of measuring strip 10 mounted thereon.
- 11 -
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01 As a result of the positioning of measuring strips 1-10,
02 it is possible to detect linear movement of sleeve 14 along each
03 of the axes X, Y and Z, respectively. It is, of course, evident
04 that linear movement between the various axes can also be detected
05 through the expansion of a combination of the various measuring
06 ætrips. For example, movement in the direction of the arrow 28 as
07 shown in Figure 3 will result in the expansion of the particular
08 measuring strips 1, 3, 6 and 7, respectively, which will generate
09 specific output signals which can be used to establish a program
for actuating the drive motors to result in hand 27 moving in the
11 direction of arrow 28.
12 The rotary motion dy about the Y axis is achieved by
13 grasping and turning sleeve 14 whereby blades 16 and 15''' are
14 bent, causing an expansion of the measuring strips 6 and 8,
respectively. In a like manner, rotary movement in the direction
16 opposite to dy results in the expansion of measuring strips 5 and
17 7, respectively. For rotary movement dx about the X axis, the
18 measuring strips 1 and 4 are caused to expand, while rotation in
19 the counter dx direction results in the expansion of measuring
strips 2 and 3, respectively.
21 Finally, in the case of rotary movement dz about the Z
22 axis, bolt 19 engages and bends blade member 20', causing
23 expansion of measuring strip 12 mounted thereon. In a like
24 manner, rotation in the counter dz direction, results in bolt 19
engaging and bending blade member 20, resulting in the expansion
26 of measuring strip 11 mounted thereon. Naturally, an intermixing
27 of the various rotary movements is possible, as well as an inter-
28 mixing of the rotary and linear movements discussed hereabove.
29 In the preferred embodiment of the present invention
described hereabove, each of the measuring strips 1-12 functions
31 as a passive transducer having a variable resistance to the flow
32 of electrical current, which resistance is dependent upon the
33 degree of expansion cf the particular measuring strip. During
34 ~ operation, a predetermined or referenced current is supplied
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~404~;
01 through the various measuring strips, with the change in
02 resistance causing a corresponding change in the reference
03 current. It is also possible to utilize transducers which detect
04 the change in inductance and/or capacitance rather than measuring
05 the change in resistance as employed in measuring strips 1-12. If
06 inductive transducers are employed, each of the transducers is
07 mounted on a blade member and is attached to a capacitor, whereby
08 deformation of the blade results in a corresponding change in the
09 inductivity of the transducer mounted thereon. Such inductive
transducers are also considered to be passive, in that, a
11 reference signal must be initially provided through the various
12 transducers. It i8 also possible to replace the passive
13 transducers disclosed hereabove with active transducers which are
,~1
14 capable of generating electrical signals as a direct result of the
electrical and magnetlc properties inherent in the materials
16 forming the transducer strips themselves.
17 In a further embodiment of the present invention, each
18 pair of parallel extending, oppositely disposed measuring strips
19 can be replaced by a single measuring strip which is capable of
generating a first signal indicative of the expansion of the
21 measuring strip and a second, further signal indicative of the
22 compression of the measuring strip. As a result, the expanding
23 measuring strips 1-8 which become operative in pairs to detect the
24 rotary movements about the X and Y axes, respectively, can be
replaced by two measuring strips arranged at substantially right
26 angles to one another, with the measuring strips providing
27 variable changes in the resistance to the flow of electrical
28 current depending upon the particular direction of rotation of the
29 sleeve 14. In other words, a change in the resistance of the
measuring strip to rotation in the dx direction would differ from
31 the change in resistance of the strip to rotation in the counter
32 dx direction.
33 In a further embodiment of the present invention, it
34 is possible to substitute a plurality of switches for the
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~ li3~
01 expanding measuring strips 1-12, whereby the switches generate
02 positive or negative signals indicative of the various movements
03 of the apparatus 23. However, data producers such as the
04 expanding measuring strips 1-12 are preferable in their ability to
05 measure the magnitude of the various forces acting on sleeve 14
06 and center portion 13, whereby the magnitude of the relevant force
07 applied to the hand assembly 27 can be measured and converted into
08 a control program for operating the various drive motors to
09 manipulate instrument assembly 22.
The following table lists the various movements which an
11 operator may perform on sleeve 14 and attached center portion 13,
12 resulting in the corresponding movement of attached arm 27. The
13 table also indicates which measuring strips will be expanded as a
14 result of the various movementZ~ of the apparatus 23.
A further embodiment of the present invention is
16 disclosed in Figure 5, wherein a sleeve 14 surrounds and is
17 relatively movable with respect to a center portion 13 rigidly
18 connected to hand member 27c. Sleeve 14 is provided with two
19 first stops 28 and two second stops 29, wherein stops 28 adjoin
without play a ball 30 and stops 29 adjoin a ball 31. Ball 30 i8
21 supported by a first spring member 32 which, in turn, is clamped
22 to center portion 13 at a point generally designated 34. Ball 31
23 is likewise supported by a second spring member 33 which includes
24 an end portion clamped to center portion 13 at a point 35. The
ball-carrying end portions of springs 32 and 33 point in opposite
26 directions, as shown in Figure 5. In addition a pair of
27 inductive-type data producers 40 and 41 are mounted on opposite
'c~
28 sides of spring 32, while a pair of inductive-type data producers
29 42 and 43 are mounted on opposite sides of spring 33,
respectively. Each pair of oppositely disposed data producers 40,
31 41 and 42, 43 receives an electrical current. If a force is
32 exerted on sleeve 14 in the direction of the X axis, springs 32
33 and 33 will be deformed towards transducers 40 and 42, causing
34 these transducers to be detuned by identical values in one
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1~3~0~L
01 direction with the remaining transducers 41 and 43 being detuned
02 by identical values in the opposite direction. Likewise, if a
03 force is exerted on sleeve 14 in a direction opposite to the arrow
04 x, the transducers 41 and 43 are detuned by identical values in
05 one direction, with the remaining data producers 40 and 42 being
06 detuned by different identical values in the opposite direction.
07 When a force is applied to the sleeve 14 about the Y axis in the
08 direction dy, transducers 40 and 43 are detuned by identical
09 values in one direction, while the remaining transducers 41 and 42
are detuned in the opposite direction by identical values.
11 In a further, not illustrated system can be arranged
12 between sleeve 14 and center portion 13 for matching the
13 components 28-43, which system is offset at a substantially 90~
14 angle relative to the above-described system with elements 28-43
and which allows for the direction of forces within the Y axis to
16 cause rotation of the sleeve 14 in the direction dx. It is noted
17 that sleeve 14 is fa~tened at a point 39 to a spring 38 which
18 carries a ball positioned within a slot 37 formed in the center
19 portion 13. In addition, a pair of inductive-type transducers 44
and 45 are positioned on opposite sides oE spring 38. If a force
21 is exerted on sleeve 14 in the Z direction, transducer 45 is
22 detuned in one direction while transducer 44 is detuned in a
23 further, opposite direction. If a force is exerted in a direction
24 opposite to the Z arrow shown in Figure 5, the inductive-type
transducer 45 is detuned in one direction, while the remaining
26 transducer 44 is detuned in the opposite direction. Likewise, if
27 a force is exerted in a direction opposite to the Z direction
28 shown in the arrow, the transducers 44 and 45 are also detuned in
29 the opposite direction.
A torsion rod 49 extends substantially parallel to the
31 longitudinal axis of sleeve 14, which longitudinal axis also
32 corresponds to the Z axis. Torsion rod 49 includes a first end
33 portion attached to a transducer 48 and a further, opposite end
34 portion clamped to center portion 13. Transducer 48, in turn, is
35 ~ - 15 -
7~
01 attached to a folding bellows coupling 47 which engages sleeve 14,
02 with coupling 47 being capable of transferring only turning
03 forces. During operation, if sleeve 14 is caused to turn in
04 either direction about the Z axis, transducer 48 is caused to turn
05 in either direction about the Z axis, transducer 48 is detuned in
06 one of two oppositely disposed directions because transducer 48 is
07 caused to change its axial spacing from center portion 13 as
08 torsion is applied to rod 49.
09 In the embodiment disclosed in Figure 5, data producers
40-45 and 48 comprise tuned circuit elements wherein the
ll inductance and capacitance of the circuit elements can be altered
12 by adjusting the physical distance between the coil springs 32, 33
13 and 38 and the respective circuit elements mounted on either side
14 thereof. The resulting change in inductance and/or capacitance
results in the effective detuning of the circuit, which detuning
16 can be used as a basis for establishing a conventional program for
17 controlling the drive motors attached to the arm and hand
18 assemblies 26 and 27, respectively.
l9 The table shown below lists the various movements and
indicates which of the data producers l-12 generate signals as a
21 result of these movements.
22Movement Signal generation at
23linear +X 6 and 7
24 -X 5 and 8
+Y 2 and 4
26 -Y 1 and 3
27 +Z 9
28 -Z 10
29
30rotary +dx 1 and 4
31 -dx 2 and 3
32 +dy 6 and 8
33 -dy 7 and 5
34 +dz 12
-dz ll
36 The present invention is not to be limited to the
37 above-described embodiments, but is to be limited only to the
38 subject matter defined in the following claims.
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