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Multi-arm robot
New patents
signals are then processed and supplied to a servo apparatus in order to reinforce the movement of the tie rod initiated by the driver via the steering wheel. The control device is part of a brake anti-lock apparatus, wherein the data pertaining to velocity which are required there are also used in the power steering in such a manner that the auxiliary force is switched on only in a low vehicle velocity range, so as to serve, for example, as an aid in parking of the motor vehicle.
MULTI-ARM ROBOT Lanson Shum assigned to Westinghouse Electric Corp An automatic robot structure includes a fixed location support 10 which carries three locational arms 12, 14, 16, being hingedly connected to each other at their location of convergence to support a workhead 20, the driving motors 12a, 14a, and 16a each being independently operable to drive its respective arm in an axial direction, each of the arms being rigid in the sense that no part of the arm is hingedly connected to another part, so that the forces derived from a payload weight subject the arms primarily only to compression and or tension.
4399718 PIVOT DRIVE FOR MANIPULATOR Ernst Zimmer, Friedberg, Federal Republic Of Germany assigned to Kuka Schweissanlagen & Roboter GmbH 3~ 9
trains having output gears at least one of which is limitedly rotatable about the pivot axis on the other member. This one output gear can be limitedly rotated and locked in place in the other member so as torsionally to prestress the rod, thereby eliminating play from the drive by bringing the gears of one of the gear trains into snug contact in one direction and the gears of the other gear train into snug contact in the opposite directions.
4398228
4407625
d8
383
METHOD OF AVOIDING RESONANCE IN SERVO CONTROLLED APPARATUS Randall Bauck assigned to Iomega Corporation
An improved disk drive for storage of digital data is disclosed featuring a servo circuit used to drive the read/write head back and forth with respect to the media, the motion of the head being controlled by a servo circuit reading position signal data from the disk. The position data is stored in a sample and hold circuit having a transfer function dropping to a minimum value at the sampling rate; by choosing the resonant frequency of the head and servo apparatus assembly to be substantially equal to the sampling frequency, the mechanical resonance appearing in the system is effectively damped out.
3~ ~mlmm~JI
.49
4396987 MACHINE TOOL AND ROBOT CONTROL APPARATUS ;J ~
UL!
5
A pivot drive for interconnecting a pair of memI~rs that are relatively pivotal about a pivot axis has a torsion rod extending along a rod axis and rotatable by an appropriate drive relative to one of the members. This rod has outer ends carrying input gears of respective constant-mesh gear
Hajimu Inaba, Hideo Miyashita, Shinsuke Sakakibara, Atsushi Watanabe, Hino, Japan assigned to Fanuc Ltd A machine tool and robot control apparatus, for use in a system having a machine tool, a numerical control device for controlling the machine tool, an industrial robot and a robot control device for controlling the industrial
signals are then processed and supplied to a servo apparatus in order to reinforce the movement of the tie rod initiated by the driver via the steering wheel. The control device is part of a brake anti-lock apparatus, wherein the data pertaining to velocity which are required there are also used in the power steering in such a manner that the auxiliary force is switched on only in a low vehicle velocity range, so as to serve, for example, as an aid in parking of the motor vehicle.
MULTI-ARM ROBOT Lanson Shum assigned to Westinghouse Electric Corp An automatic robot structure includes a fixed location support 10 which carries three locational arms 12, 14, 16, being hingedly connected to each other at their location of convergence to support a workhead 20, the driving motors 12a, 14a, and 16a each being independently operable to drive its respective arm in an axial direction, each of the arms being rigid in the sense that no part of the arm is hingedly connected to another part, so that the forces derived from a payload weight subject the arms primarily only to compression and or tension.
4399718 PIVOT DRIVE FOR MANIPULATOR Ernst Zimmer, Friedberg, Federal Republic Of Germany assigned to Kuka Schweissanlagen & Roboter GmbH 3~ 9
trains having output gears at least one of which is limitedly rotatable about the pivot axis on the other member. This one output gear can be limitedly rotated and locked in place in the other member so as torsionally to prestress the rod, thereby eliminating play from the drive by bringing the gears of one of the gear trains into snug contact in one direction and the gears of the other gear train into snug contact in the opposite directions.
4398228
4407625
d8
383
METHOD OF AVOIDING RESONANCE IN SERVO CONTROLLED APPARATUS Randall Bauck assigned to Iomega Corporation
An improved disk drive for storage of digital data is disclosed featuring a servo circuit used to drive the read/write head back and forth with respect to the media, the motion of the head being controlled by a servo circuit reading position signal data from the disk. The position data is stored in a sample and hold circuit having a transfer function dropping to a minimum value at the sampling rate; by choosing the resonant frequency of the head and servo apparatus assembly to be substantially equal to the sampling frequency, the mechanical resonance appearing in the system is effectively damped out.
3~ ~mlmm~JI
.49
4396987 MACHINE TOOL AND ROBOT CONTROL APPARATUS ;J ~
UL!
5
A pivot drive for interconnecting a pair of memI~rs that are relatively pivotal about a pivot axis has a torsion rod extending along a rod axis and rotatable by an appropriate drive relative to one of the members. This rod has outer ends carrying input gears of respective constant-mesh gear
Hajimu Inaba, Hideo Miyashita, Shinsuke Sakakibara, Atsushi Watanabe, Hino, Japan assigned to Fanuc Ltd A machine tool and robot control apparatus, for use in a system having a machine tool, a numerical control device for controlling the machine tool, an industrial robot and a robot control device for controlling the industrial