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| Number | Title | Issue Date |
| 7386408 | Parallel kinematic machine, calibration method of parallel kinematic machine, and calibration program product A parallel kinematic machine has a parallel kinematic mechanism including an end effecter and a parallel link mechanism. A numerical control device controls a position and orientation of the end effecter based on kinematics of the parallel kinematic mechanism. A pos... | 06/10/2008 |
| 7303063 | Sequential stepped movement staging device A sequential stepped movement staging device comprises six legs 70 of equal length extending radially from a central sphere 46 in an X-Y-Z orthogonal relationship. The sphere 46 and legs 70 are held in a horizontally fixed position relati... | 12/04/2007 |
| 6757985 | Precise positioning of an object Apparatus for the precise positioning of an object such as a work platform relative to a base, comprising, for each of three orthogonal axes, a flexure coupling between the work platform and the base, at least one of the flexure couplings having a rotary bearing and... | 07/06/2004 |
| 6592315 | Self-feeding apparatus with hover mode A robotic self-feeding device uses a multiplicity of dishes, utensils and control methods to handle a wide variety of food, including sandwiches. Its operating sequence has a hover mode in which a utensil is automatically steered over a food holder and is... | 07/15/2003 |
| 6243624 | Non-Linear muscle-like compliant controller A compliant controller implements a biological model of a primate muscle so as to provide simultaneous position and force control with nonlinear damping for an actuator. The compliant controller uses one or more position sensors but does not require the u... | 06/05/2001 |
| 5890656 | Integrated gear pump dispenser for robotic dispensing The present invention provides a robotic dispensing apparatus comprising a gear pump operably coupled to a rotatable element positioned along the sixth axis of a multi-axis robot such that the gear pump is driven by the multi-axis robot. In one embodiment... | 04/06/1999 |
| 5668432 | Articulation device A moving member 2 is rotatably and slidably arranged in a holder 11 having a spherical inner surface 11a. An inertia body 5 is connected to the moving member 2 via a supporting member 4. At a location opposite the inertia body 5, an arm 3 extends so that ... | 09/16/1997 |
| 5527390 | Treatment system including a plurality of treatment apparatus A treatment system is disclosed, which has a treatment apparatus for performing a predetermined treatment for a planar workpiece contained in a carrier, and a first air-tight carrier storage chamber for storing the carrier. The treatment apparatus has an ... | 06/18/1996 |
| 5312220 | Industrial robot with workpiece handling means for attaching a workpiece to and removing a workpiece from a machine tool An industrial robot is provided with robot hands (44, 46) capable of being moved by turning actions between a workpiece handling position to which a workpiece is transported and at which the workpiece is fed to the chucking device (10) of a machine tool a... | 05/17/1994 |
| 5276390 | System for hybrid position and force control A hybrid position and force control system for a robotic manipulator. A displacement error signal of an end effector such as a robotic hand is multiplied by a pseudo-inverse of a matrix product of a selection matrix and a Jacobian matrix to provide a join... | 01/04/1994 |
| 5219263 | Transporter, especially for transporting a workpiece between presses A transporter or transport robot especially for transporting workpieces between presses has a cantilever arm swingable about a vertical first axis on a stationary base and a horizontal second axis in a common plane. A linear positioner is swingable at a f... | 06/15/1993 |
| 5115178 | Gravity compensating mechanism for articulated type industrial robots Herein disclosed is a gravity compensating mechanism for an articulated type industrial robot having upper and lower arms whirling in the direction of gravity. The upper and lower arm gravity compensating mechanism includes a cam mechanism and an elastic ... | 05/19/1992 |
| 5085556 | Industrial robot apparatus An industrial robot apparatus for palletizing or depalletizing loads onto or from a pallet, having a robot body, a slider supported on the robot body and movable in a first direction, a mechanism for moving the slider, a first arm provided on one end of t... | 02/04/1992 |
| 5060532 | Universal joint boom A universal joint boom assembly comprising two boom segments having paired eared ends connected end to end by means of a universal joint with one of its set of ears parallel to an X axis and the other set of ears parallel to a Y axis which is perpendicula... | 10/29/1991 |
| 5028195 | Horizontal/vertical conversion transporting apparatus A horizontal/vertical conversion transporting apparatus, wherein a mechanism for variably changing a distance between upper and lower boat hands for clamping an article therebetween is mounted on a conversion arm, the conversion arm is vertically movable ... | 07/02/1991 |
| 5019762 | Industrial robot apparatus An industrial robot apparatus has a plurality of robots mounted for movement along a pathway. When a malfunction sensor detects a malfunction of one of the robots, a withdrawal controller withdraws the malfunctioning robot from the pathway, and the operat... | 05/28/1991 |
| 4979127 | Method for automatically setting a tool tip point An automatic setting method is provided, in which the position of a tool tip point in a coordinate system set for a faceplate of a robot, can be set easily and accurately. The robot is caused to assume different postures while maintaining the tool tip poi... | 12/18/1990 |
| 4960271 | Medical patient support table A cantilever mounted table for an X-ray patient undergoing procedures requiring tilting the table head to foot or canting the table about its longitudinal axis allows a medical team free axis to one side and an end of the patient, and provides an improved... | 10/02/1990 |
| 4922430 | Method and apparatus for controlling the movement of a guided object A method is provided for controlling the movement of an object 1, 61, in an environment 64. The method involves making predictions of collisions, given the outlines of the object and the environment, so that avoiding action can be taken. The object and en... | 05/01/1990 |
| 4801239 | Arm device Arm device adapted to move and position a first basic part (6) relatively to a second basic part (4), comprising at least three arms (1,2,3,7) capable of being extended and shortened in a controlled manner, said arms being free to pivot in attachments (5)... | 01/31/1989 |
| 4775289 | Statically-balanced direct-drive robot arm A robot (10) includes a statically-balanced direct-drive arm (14) having three degrees of freedom, all of which are independent articulated drive joints, the driving axes of two of which intersect at the center of gravity of the arm to eliminate gravity f... | 10/04/1988 |
| 4686402 | Drive device for inducing swinging, rotation and linear movements A drive for inducing pivoting rotational and linear movements includes a drive unit comprising two coaxial motors and having a pivot axis and a rotation axis normal to the pivot axis, and a drive element formed as a linear drive. The drive unit operated t... | 08/11/1987 |
| 4668155 | Industrial robot The invention relates to an industrial robot of the kind comprising a body and an arm system pivotally journalled thereon. In order to achieve an improved and extended working range in a vertical space underneath or above the robot, the arm system is supp... | 05/26/1987 |
| 4662813 | Mechanism for rotating a robot arm on an axis A rotary mechanism for robot manipulators and the like has a housing and a shaft moveably disposed in the housing so that an end portion thereof is movable toward and away from the housing. A cylinder and piston assembly is connected to the shaft for movi... | 05/05/1987 |
| 4643036 | Power transmission device in industrial robots A power transmission device includes a rotatably mounted drive screw, a nut element which is movable along the drive screw, and a pair of links which connect the nut element to a driven member. The links are rigidly connected to each other by a torsionall... | 02/17/1987 |
| 4628765 | Spherical robotic wrist joint A robotic wrist joint comprises a spherical member which is mounted within a ring shaped housing for rotational movement in any direction. A control pin extends from an outer surface of the spherical member. A first semi-circular yoke is pivotally mounted... | 12/16/1986 |
| 4613278 | Conveyor robot The conveyor robot which, in particular, is intended for being mounted between presses, comprises a double arm (14) that is rotatable about a central, vertical axis (12) and swingable about a central, horizontal axis (16). Both ends of the double arm (14)... | 09/23/1986 |
| 4579558 | Mechanical hip joint A novel mechanical hip joint for attaching a robotic leg to a body member is described, which comprises, a housing adapted for connection to the body member, a spherical socket defined within the housing, a ball joint received by the socket for rotational... | 04/01/1986 |
| 4547119 | Robotic manipulator arm A robotic system including a manipulator arm for moving a device to a predetermined point within a working volume under control of microprocessor based control unit. The manipulator arm includes various sections and joints defining a base, a shoulder, an ... | 10/15/1985 |
| 4541060 | Path control method and apparatus A path control method and apparatus which are well-suited especially for application to articulated machine tools and industrial robots having path-controlled parts, using commands calculated from teach point information and orders calculated from the com... | 09/10/1985 |
| 4501522 | Manipulator A manipulator for remote handling in a hostile environment 14, has a slave arm 10 comprising an upper arm 30, a forearm 52 and a jaw mechanism 60. The upper arm 30 is pivotally suspended from a shoulder support 20 and is telescopically extendible such tha... | 02/26/1985 |
| 4482288 | Mechanical arm The invention relates to a mechanical arm having four degrees of freedom (or possibilities of motion) and actuated by two electric motors, each motor of these alternately controls the movements corresponding to at least two degrees of freedom. The result ... | 11/13/1984 |
| 4430037 | Industrial robot with several axes of rotation An industrial robot having several axes of freedom of movement and comprising an operating members supporting arm pivotally mounted at the top of a supporting column for movement about a horizontal axis from a horizontal angular medium position under the ... | 02/07/1984 |
| 4428710 | Manipulator with a swivel jib A manipulator having at least one jib which can be swivelled about a vertical shaft is disclosed. The vertical shaft is arranged on a support member. The jib may carry a positioning unit having load-holding members mounted thereon.... | 01/31/1984 |
| 4399718 | Pivot drive for manipulator A pivot drive for interconnecting a pair of members 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 ge... | 08/23/1983 |
| 4398863 | Pick and place robot A pick and place robot is provided in which support 10 carries a rotatable turret 12, which in turn has one end of the pick and place arm 14 pivotally carried therefrom, the arm carrying a working tool 16 at its other end supported in rotatable relation a... | 08/16/1983 |
| 4396344 | Industrial robot of the articulated type An industrial robot of the articulated type including a swivelling pedestal capable of swivelling about a vertical axis by force of a drive motor, a first brachium supported for pivotal movement about a first axis disposed horizontally on the pedestal, a ... | 08/02/1983 |
| 4392766 | Automatic feeding apparatus Automatic feeding apparatus for transferring work pieces to a work station including a robot having a work arm pivoted about a point and movable through a segment of a sphere with vertical movement of the work arm scribing an arc relative to the pivot poi... | 07/12/1983 |
| 4380696 | Method and apparatus for manipulator welding apparatus with vision correction for workpiece sensing Control apparatus for manipulator welding apparatus is provided that includes a vision correction system for workpiece sensing. During an initial teach mode, the manipulator is taught the desired welding path on a workpiece by the appropriate recording of... | 04/19/1983 |
| 4365928 | Fluid power connector system for manipulator A manipulator has an end effector with a tool end movable with respect to a reference base by means of a multi-axis joint system. The joint system is contained within a housing to provide the relative movement through a mechanical power train. Fluid ducts... | 12/28/1982 |
