Position Sensing Wrists for Industrial Manipulators.

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)

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Document Details

Document Type
Technical Report
Publication Date
Jul 15, 1982
Accession Number
ADA126402

Entities

People

  • Mark Cutkosky
  • Paul K. Wright

Organizations

  • Carnegie Mellon University

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Accuracy
  • Algorithms
  • Assembly
  • Automatic
  • Computer Programming
  • Computers
  • Control Systems
  • Coordinate Systems
  • Equations
  • Feedback
  • Joints
  • Measurement
  • Personal Computers
  • Precision
  • Robotics
  • Stochastic Control
  • Universities

Readers

  • Computer Science/Computer Engineering/Data Science/Digital Signal Processing.
  • Robotics and Automation.
  • Tribology (the study of the boundary interaction between sliding surfaces, lubrication, wear and friction).

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy