WO2001036165A1 - Constant orientation robot arm assembly - Google Patents

Constant orientation robot arm assembly Download PDF

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Publication number
WO2001036165A1
WO2001036165A1 PCT/US2000/042150 US0042150W WO0136165A1 WO 2001036165 A1 WO2001036165 A1 WO 2001036165A1 US 0042150 W US0042150 W US 0042150W WO 0136165 A1 WO0136165 A1 WO 0136165A1
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WO
WIPO (PCT)
Prior art keywords
link
rotation
relative
pulley
workpiece
Prior art date
Application number
PCT/US2000/042150
Other languages
French (fr)
Inventor
Hadi A. Akeel
Original Assignee
Fanuc Robotics North America, Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Robotics North America, Inc. filed Critical Fanuc Robotics North America, Inc.
Priority to JP2001538146A priority Critical patent/JP2003513813A/en
Publication of WO2001036165A1 publication Critical patent/WO2001036165A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/046—Revolute coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/904—Devices for picking-up and depositing articles or materials provided with rotary movements only

Definitions

  • a gripping means for releasably gripping a workpiece is disposed at a second end of the auxiliary radial arm.
  • the main radial arm and the auxiliary radial arm having equal effective lengths and by maintaining a two to one ratio between the radii of the stationary sprocket wheel and the rotary sprocket wheel.
  • the power drive means will rotate the mam radial arm in a counterclockwise direction, and because of the coupling between the stationary sprocket wheel and the rotary sprocket wheel, the auxiliary radial arm will rotate in a clockwise direction.
  • the Holhnger transfer mechanism moves the workpiece in a straight-line path, but rotates the workpiece 180 degrees relative to a support
  • the lotation of the workpiece or panel creates significant inertial loading, thereby limiting the size of a workpiece that can be transferred with a given structure.
  • the rotation of the part prevents attaining the optimal cycle time.
  • the Holhnger transfer mechanism is not programmable to allow adaptation to variations in pitch or height between presses nor does the Holhnger transfer mechanism allow for the frequently encountered need to impart slight pitch and roll motions to aid the release of a workpiece or panel as is possible with the use of robots
  • the subject invention relates to a robot arm assembly utilized to move a workpiece between workstations while maintaining the orientation of the workpiece relative to a reference plane.
  • the robot arm assembly comprises a first link having a first and a second end and a tool mounted to the first end of the first link and a second link having a first end rotatably mounted on a support and a second end rotatably connected to the first link.
  • the robot arm assembly is characterized by a coupling between the second link and the tool for limiting rotation of the tool relative to the leference plane as the second link rotates relative to the support and the first link lotates relative to the second link.
  • the subject invention includes the method of moving a workpiece compiising the steps of rotating the second link about the support, rotating the first link relative to the second link, and rotating the tool relative to the first link in a predetermined latio to the rotation of the second link relative to the first link. Further, the steps of rotating the second link about a support, rotating the first link relative to the second link, and adjusting an angle of rotation of the workpiece are accomplished as part of a robot operating software program for moving the workpiece
  • the robot arm assembly maintains workpiece o ⁇ entation during transfer between workstations without requiring a 180-degree rotation of the workpiece Maintaining the workpiece onentation provides for optimal cycle time In addition, by maintaining the workpiece orientation, inertial loading on the robot arm assembly caused by rotation of the workpiece is minimized.
  • Figuie 2 is a top view of the robot arm assembly
  • Figure 3 is a process view of the steps required to move a workpiece between workstations using the subject robot arm assembly.
  • FIG 4 is a top view of the robot arm assembly illustrating the angular relationships between components of the robot arm.
  • a robot arm assembly 10 for moving a workpiece 12 while maintaining a constant workpiece 12 o ⁇ entation is shown in Figure 1
  • the robot arm assembly 10 includes a first link 14 having a first end 16 and a second end 18.
  • a tool 26 is rotatably mounted to the first end 16 of the first link 14
  • a coupling 24 is provided to limit the rotation of the tool 26 relative to a reference plane A.
  • the coupling 24 is comp ⁇ sed of a first pulley 20 rotatably supported at a first end 16 of a first link 14, and a second pulley 22 disposed at a second end 18 of the first link 14.
  • the pulley 20 and the tool 26 are fixedly coupled
  • the robot arm assembly 10 is controlled by a control system that drives the links 28, 14 of the robot arm assembly 10 in accordance with a robot operating software program to attain desired robot arm assembly 10 motions and tool 26 manipulation
  • the pulleys 20, 22 shown in Figure 1 are disk shaped with a circumference having a grooved ⁇ m (not numbered), and coupled by a belt 24 trained around the pulleys 20,22 and disposed within the grooved ⁇ m. It should be appreciated that the pulley 20,22 and belt combination is only one of many possible coupling configurations Examples of other configurations might include a sprocket and chain configuration, a lever configuration, or a system of gears. Further, any other coupling means known in the art may be substituted for the preferred pulley 20,22 and belt 24 configuration
  • the robot arm assembly 10 is characte ⁇ zed by a second link 28 having a first end 30 mounted to a support 32 and a second end 34 rotatably connected to the first link 14, and the coupling 24 limiting rotation of the tool 26 relative to a reference plane A as the second link 28 rotates relative to the support 32 and the first link 14 rotates relative to the second link 28
  • the second link 28 shown in Figure 1 comprises two links attached at a central pivot The central pivot allows the overall distance between the first and second ends of the second link 28 to change du ⁇ ng movement of the workpiece 12
  • Figure 3 illustrates how this configuration allows the robot arm assembly 10 to extend into restricted areas while maintaining the orientation of the workpiece 12 substantially unchanged relative to the reference plane A
  • the first and second pulleys 20,22 have different radii to establish a ratio of rotation.
  • ⁇ 2 Angle of rotation of the first hnk 14 relative to the second link 28.
  • ⁇ 3 Angle of rotation of the workpiece 12 relative to the support 32.
  • RI Radius of the second pulley 22.
  • R3 Radius of the first pulley 20.
  • the use of equations 1, 2 and 3 to determine a ratio of rotation allows for the accommodation of multiple robot arm configurations. Different robot arm configurations can be obtained by varying lengths of the first 14 and second links 28. Further, the second link 28 may be comp ⁇ sed of a plurality of se ⁇ ally and rotationally connected lrnks. The plurality of se ⁇ al and rotatronally connected links would provide for multiple robot arm assembly 10 confrguratrons to accommodate different applications.
  • the ratio between the first pulley 20 and second pulley 22 is usually sized such that the angle of rotation of the workpiece ⁇ 3 with respect to the support 32 is zero at least at one location within the operating space of the robot arm -6-
  • the robot aim assembly 10 can be programmed to vary the rotation of the workpiece 12 according to Equation 1 to control rotation of the workpiece 12 and minimize cycle time.
  • a motor 36 mounted on the pulley 22 and the second link 28 and attached to the first link 14 facilitates rotation of the first link 14 relative to the second link 28 and the pulley 22. It should be understood that othei means known in the art may be employed to rotate the first link 14 relative to the second link 28.
  • the motor 36 is disposed within a wrist housing and d ⁇ ves a robot flange to which the first link 14 may be attached.
  • the pulley 22 is fixedly attached to the wrist housing.
  • the subject invention includes methods of moving a workpiece 12 by the tool
  • the method comp ⁇ ses the steps of rotating the second link 28 about the support 32, rotating the first link 14 relative to the second link 28, and rotating the tool 26 relative to the first link 14 in a predetermined ratio to the rotation of the second link 28 lelative to the first link 14.
  • a marker 13, detailed in Figure 4, disposed on the workpiece 12 follows the change of orientation of the workpiece 12 thioughout the angle of rotation ⁇ 3.
  • step of coupling the rotation of the second link 28 relative to the first link 14 with the rotation of the tool 26 relative to the first link 14 By coupling the rotation of the tool 26 to the rotation of the first link 14 in the predetermined ratio, the tool 26 rotates in unison with the second link 28 as the second link 28 rotates relative to the first link 14.
  • Another method of moving a workpiece with the robot arm assembly 10 comp ⁇ ses the steps of, providing a rotational coupling 24 such that the tool 26 and the second link 28 rotate relative to the support 32 with a predetermined ratio or rotation Rotating the second link 28 around the support 32 by the angle ⁇ l , rotating the first link 14 by the motor 36 such that a center of gravity of the workpiece 12 travels along -7-
  • the steps of rotating the second link 28, rotating the first link 14, and adjusting the angle of rotation ⁇ 2 of the first link 14 relative to the second link 28 are part of a robot operating software program for moving the workpiece 12.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

A robot arm assembly (10) and method for moving a workpiece (12) while maintaining a constant workpiece (12) orientation includes a first link (14) with a first pulley (20) rotatably supported at a first end (16) of the first link (14). A second pulley (22) is disposed at a second end (18) of the first link (14). A coupling (24) prevents relative rotation between the first (20) and second pulleys (22). The first (20) and second pulleys (22) have different radii that establish a ratio of rotation. Fixedly attached to the first pulley (20) is a tool (26) adapted to releasably grip the workpiece (12). A second link (28) is mounted to a support at a first end (30) and rotatably connected to the first link (14) at a second end (34). The coupling of the pulleys (20, 22) limits rotation of the tool (26) and workpiece (12) relative to a reference plane A as the second link (28) rotates relative to the support and the first link (14) rotates relative to the second link (28). The rotation of the first link (14), relative to the second link (28) are part of a robot operating software program for moving the workpiece (12).

Description

the rotary sprocket wheel A gripping means for releasably gripping a workpiece is disposed at a second end of the auxiliary radial arm.
Straight-line movement of a workpiece is accomplished by the main radial arm and the auxiliary radial arm having equal effective lengths and by maintaining a two to one ratio between the radii of the stationary sprocket wheel and the rotary sprocket wheel. In operation, the power drive means will rotate the mam radial arm in a counterclockwise direction, and because of the coupling between the stationary sprocket wheel and the rotary sprocket wheel, the auxiliary radial arm will rotate in a clockwise direction. The Holhnger transfer mechanism moves the workpiece in a straight-line path, but rotates the workpiece 180 degrees relative to a support The lotation of the workpiece or panel creates significant inertial loading, thereby limiting the size of a workpiece that can be transferred with a given structure. In addition, the rotation of the part prevents attaining the optimal cycle time. Furthermore, the Holhnger transfer mechanism is not programmable to allow adaptation to variations in pitch or height between presses nor does the Holhnger transfer mechanism allow for the frequently encountered need to impart slight pitch and roll motions to aid the release of a workpiece or panel as is possible with the use of robots
SUMMARY OF THE INVENTION AND ADVANTAGES
The subject invention relates to a robot arm assembly utilized to move a workpiece between workstations while maintaining the orientation of the workpiece relative to a reference plane. The robot arm assembly comprises a first link having a first and a second end and a tool mounted to the first end of the first link and a second link having a first end rotatably mounted on a support and a second end rotatably connected to the first link. The robot arm assembly is characterized by a coupling between the second link and the tool for limiting rotation of the tool relative to the leference plane as the second link rotates relative to the support and the first link lotates relative to the second link.
The subject invention includes the method of moving a workpiece compiising the steps of rotating the second link about the support, rotating the first link relative to the second link, and rotating the tool relative to the first link in a predetermined latio to the rotation of the second link relative to the first link. Further, the steps of rotating the second link about a support, rotating the first link relative to the second link, and adjusting an angle of rotation of the workpiece are accomplished as part of a robot operating software program for moving the workpiece
The robot arm assembly maintains workpiece oπentation during transfer between workstations without requiring a 180-degree rotation of the workpiece Maintaining the workpiece onentation provides for optimal cycle time In addition, by maintaining the workpiece orientation, inertial loading on the robot arm assembly caused by rotation of the workpiece is minimized.
BRIEF DESCRIPTION OF THE DRAWINGS Other advantages of the present invention will be readily appreciated, as the same becomes better undei stood by reference to the following detailed description when considered in connection with the accompanying drawings wherein Figure 1 is a side view of a robot arm assembly,
Figuie 2 is a top view of the robot arm assembly;
Figure 3 is a process view of the steps required to move a workpiece between workstations using the subject robot arm assembly; and
Figure 4 is a top view of the robot arm assembly illustrating the angular relationships between components of the robot arm. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT Referring now to the Figures, wherein like numerals indicate like or corresponding parts throughout the several views. A robot arm assembly 10 for moving a workpiece 12 while maintaining a constant workpiece 12 oπentation is shown in Figure 1 The robot arm assembly 10 includes a first link 14 having a first end 16 and a second end 18. A tool 26 is rotatably mounted to the first end 16 of the first link 14 A coupling 24 is provided to limit the rotation of the tool 26 relative to a reference plane A. The coupling 24 is compπsed of a first pulley 20 rotatably supported at a first end 16 of a first link 14, and a second pulley 22 disposed at a second end 18 of the first link 14. The pulley 20 and the tool 26 are fixedly coupled
The robot arm assembly 10 is controlled by a control system that drives the links 28, 14 of the robot arm assembly 10 in accordance with a robot operating software program to attain desired robot arm assembly 10 motions and tool 26 manipulation The pulleys 20, 22 shown in Figure 1 are disk shaped with a circumference having a grooved πm (not numbered), and coupled by a belt 24 trained around the pulleys 20,22 and disposed within the grooved πm. It should be appreciated that the pulley 20,22 and belt combination is only one of many possible coupling configurations Examples of other configurations might include a sprocket and chain configuration, a lever configuration, or a system of gears. Further, any other coupling means known in the art may be substituted for the preferred pulley 20,22 and belt 24 configuration
The robot arm assembly 10 is characteπzed by a second link 28 having a first end 30 mounted to a support 32 and a second end 34 rotatably connected to the first link 14, and the coupling 24 limiting rotation of the tool 26 relative to a reference plane A as the second link 28 rotates relative to the support 32 and the first link 14 rotates relative to the second link 28 The second link 28 shown in Figure 1 comprises two links attached at a central pivot The central pivot allows the overall distance between the first and second ends of the second link 28 to change duπng movement of the workpiece 12 Figure 3 illustrates how this configuration allows the robot arm assembly 10 to extend into restricted areas while maintaining the orientation of the workpiece 12 substantially unchanged relative to the reference plane A
Referring now to Figure 2, the first and second pulleys 20,22 have different radii to establish a ratio of rotation. The ratio between the radius of the first pulley 20 and the radius of the second pulley 22 in the first embodiment is two to one. It should be understood that the latio between the radius of the first pulley 20 and the radius of the second pulley 22 is dependent on the application and can be adjusted accordingly to accommodate multiple robot arm assembly 10 configurations. Referπng now to Figure 4, the ratio between the pulleys may be determined by using the follow g equatrons. ΔΘ3 = ΔΘ2(1- (R1/R3)) +(ΔΘ1) Equation 1
Where Δθl = Angle of rotatron of the second link 28 about the support 32.
ΔΘ2 = Angle of rotation of the first hnk 14 relative to the second link 28.
ΔΘ3 = Angle of rotation of the workpiece 12 relative to the support 32.
RI = Radius of the second pulley 22. R3 = Radius of the first pulley 20.
Furthei, when it is desired to maintain the workpiece 12 orientation, i.e. ΔΘ3=0, then Equation 1 becomes.
R1/R3 = (ΔΘ2 + ΔΘ1)/(ΔΘ2) Equation 2 or ΔΘ1/ΔΘ2= ((R1/R3)-1) Equation 3 The use of equations 1, 2 and 3 to determine a ratio of rotation allows for the accommodation of multiple robot arm configurations. Different robot arm configurations can be obtained by varying lengths of the first 14 and second links 28. Further, the second link 28 may be compπsed of a plurality of seπally and rotationally connected lrnks. The plurality of seπal and rotatronally connected links would provide for multiple robot arm assembly 10 confrguratrons to accommodate different applications. In practice, the ratio between the first pulley 20 and second pulley 22 is usually sized such that the angle of rotation of the workpiece ΔΘ3 with respect to the support 32 is zero at least at one location within the operating space of the robot arm -6-
assembly 10. Duπng operation, the robot aim assembly 10 can be programmed to vary the rotation of the workpiece 12 according to Equation 1 to control rotation of the workpiece 12 and minimize cycle time. A motor 36 mounted on the pulley 22 and the second link 28 and attached to the first link 14 facilitates rotation of the first link 14 relative to the second link 28 and the pulley 22. It should be understood that othei means known in the art may be employed to rotate the first link 14 relative to the second link 28. In a typical robot arm assembly 10 the motor 36 is disposed within a wrist housing and dπves a robot flange to which the first link 14 may be attached. The pulley 22 is fixedly attached to the wrist housing. The subject invention includes methods of moving a workpiece 12 by the tool
26 rotatably mounted on the first end 16 of the first link 14 and moving the second link 28 that is pivotally connected to the second end 18 of the first link 14. Referring to Figures 3 and 4, the method compπses the steps of rotating the second link 28 about the support 32, rotating the first link 14 relative to the second link 28, and rotating the tool 26 relative to the first link 14 in a predetermined ratio to the rotation of the second link 28 lelative to the first link 14. A marker 13, detailed in Figure 4, disposed on the workpiece 12 follows the change of orientation of the workpiece 12 thioughout the angle of rotation ΔΘ3.
Further included is the step of coupling the rotation of the second link 28 relative to the first link 14 with the rotation of the tool 26 relative to the first link 14 By coupling the rotation of the tool 26 to the rotation of the first link 14 in the predetermined ratio, the tool 26 rotates in unison with the second link 28 as the second link 28 rotates relative to the first link 14.
Another method of moving a workpiece with the robot arm assembly 10 compπses the steps of, providing a rotational coupling 24 such that the tool 26 and the second link 28 rotate relative to the support 32 with a predetermined ratio or rotation Rotating the second link 28 around the support 32 by the angle Δθl , rotating the first link 14 by the motor 36 such that a center of gravity of the workpiece 12 travels along -7-
a predetermined path, and adjusting the angle of rotation ΔΘ2 of the first link 14 relative to the second link 28 such that a rotation of the workpiece ΔΘ3 is minimized. In addition, the steps of rotating the second link 28, rotating the first link 14, and adjusting the angle of rotation ΔΘ2 of the first link 14 relative to the second link 28 are part of a robot operating software program for moving the workpiece 12.
The invention has been described in an illustrative manner, and it is to be understood that the terminology that has been used is intended to be in the nature of words of description rather than of limitation.
Obviously, many modifications and variations of the present invention are possible in light of the above teachings. The invention may be practiced otherwise than as specifically described within the scope of the appended claims, wherein that which is prior art is antecedent to the novelty set forth in the "characterized by" clause. The novelty is meant to be particularly and distinctly recited in the "characterized by" clause whereas the antecedent recitations merely set forth the old and well-known combination in which the invention resides. These antecedent recitations should be interpreted to cover any combination in which the inventive novelty has utility. In addition, the reference numerals are merely for convenience and are not to be in any way to be read as limiting.

Claims

CLAIMS What is claimed is
1. A robot arm assembly (10) for moving a workpiece (12), said robot arm assembly (10) comprising; a first link (14) having a first end (16) and a second end (18); and a tool (26) mounted to said first end (16) of said first link (14), a second link (28) having a first end (30) mounted on a support (32) and a second end (34) rotatably connected to said first link (14), said robot arm assembly (10) characterized by a coupling (24) between said second link (28) and said tool (26), said coupling (24) limiting rotation of said tool (26) relative to a reference plane A as said second link (28) rotates relative to said support (32) and said first link (14) rotates relative to said second link (28).
2. An assembly as set forth in claim 1 further characterized by said coupling (24) comprising a first pulley (20) rotatably mounted to said first end (16) of said first link (14); and a second pulley (22) disposed at said second end (18) of said first link (14) with said second pulley (22) fixedly attached to said second link (28)
3 An assembly as set forth in claim 2 further characteπzed by said fust pulley (20) and said second pulley (22) having different radii for establishing a predetermined ratio of rotation between said first pulley (20) and second pulley (22)
4. An assembly as set forth in claim 2 further characterized by said pulleys (20,22) being disk shaped with a circumference, wherein said coupling (24) includes an endless belt (24) trained around said pulleys (20,22).
5 An assembly as set forth in claim 4 further characterized by said pulleys having a grooved πm with said endless belt disposed within said giooved πm -9-
6 An assembly as set forth in claim 3 furthei characterized by said ratio between said first pulley (20) and said second pulley (22) determined by an equation, wherein said equation is ΔΘ3 = ΔΘ2(1-(R1/R3))+(ΔΘ1), wheie Δθl = angle of rotation of said second link (28) about said support (32),
ΔΘ2 = angle of rotation of said first link (14) relative to said second link (28), ΔΘ3 = angle of rotation of said workpiece (12) relative to said support (32), RI = radius of said second pulley (22); and R3 = radius of said fust pulley (20).
7 An assembly as set forth m claim 3 further characterized by said ratio between said first pulley (20) and said second pulley (22) being two to one.
8 An assembly as set forth in claim 1 further characterized by said second link (28) comprises a plurality of serially and rotationally connected links
9 An assembly as set forth in claim 1 further characteπzed by a motoi (36) mounted on said second link (28) and attached to said first link (14) to facilitate rotation of said fust link (14) lelative to said second link (28)
10 A method of moving a workpiece (12) by a robot arm assembly (10) having a tool (26) lotatably mounted on a first end (16) of a first link (14) by moving a second link (28) which is pivotally connected to a second end (18) of the first link (14), said method comprising the steps of; rotating the second link (28) about a support (32); rotating the first link (14) relative to the second link (28); and rotating the tool relative to the first link (14) in a predetermined latio to the lotation of the second link (28) relative to the first link (14). -lu¬
l l. A method as set forth in claim 10 further including coupling the rotation of the second link (28) relative to the first link (14) with the rotation of the tool (26) relative to the first link (14) to rotate the tool (26) in the predetermined ratio to the rotation of the second link (28) relative to the first link (14) to rotate the tool (26) in unison with the rotation of the second link (28) relative to the first link (14).
12 A method as set forth in claim 10 where the rotation of the tool (26) in the predetermined ratio is further defined by utilizing an equation, wherein said equation ιs ΔΘ3 = ΔΘ2(l-(Rl/R3))+Δθl ; where Δθl = angle of rotation of said second link (28) about said support (32),
ΔΘ2 = angle of rotation of said first link (14) relative to said second link (28). ΔΘ3 = angle of rotation of said workpiece (12) relative to said support (32), RI = radius of said second pulley (22); and R3 = radius of said first pulley (20).
13. A method as set forth in claim 10 further including rotating the tool (26) by a tv\ o to one ratio of rotation relative to the second link (28).
14 An assembly as set forth in claim 11 including rotating the first link (14) relative to the second link (28).
15 A method of moving a workpiece (12) by a robot arm assembly (10) comprising a support (32), a second link (28) having a motor (36) disposed at an end (34) of the second link (28), a first link (14) driven by the motoi (36) and a tool (26) supporting the workpiece (12), said method comprising the steps of: providing a rotational coupling (24) such that the tool (26) and the second link (28) lotate relative to the support (32) with a predetermined ratio of rotation, -11-
rotating the second link (28) around the support (32) by an angle of rotation
Δθl ; rotating the first link (14) by the motor (36) such that a center of gravity of the workpiece (12) travels along a predetermrned path; and adjusting an angle of rotation ΔΘ2 of the first link (14) relative to the second link (28) such that an angle of rotation ΔΘ3 of the workpiece (12) is minimized; where Δθl = angle of rotation of the second link (28) about the support (32);
ΔΘ2 = angle of rotation of the first lrnk (14) relative to the second link (28), and
ΔΘ3 = angle of rotation of the workpiece (12) relative to the support (32)
16. The method of claim 15 wherein the steps of rotating the second link (28), rotating the first link (14), and adjusting the angle of rotation ΔΘ2 of the first link (14) relative to the second link (28) are part of a robot operating software program for moving the workpiece (12).
PCT/US2000/042150 1999-11-15 2000-11-15 Constant orientation robot arm assembly WO2001036165A1 (en)

Priority Applications (1)

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JP2001538146A JP2003513813A (en) 1999-11-15 2000-11-15 Oriented robot arm assembly

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US44118599A 1999-11-15 1999-11-15
US09/441,185 1999-11-15

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Cited By (7)

* Cited by examiner, † Cited by third party
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EP1142674A3 (en) * 2000-04-07 2002-07-24 Kawasaki Jukogyo Kabushiki Kaisha Robot system for transferring workpieces along a straight line
WO2008074836A1 (en) * 2006-12-19 2008-06-26 Abb Research Ltd Parts handling device, system and method
CN106429415A (en) * 2016-11-08 2017-02-22 佛山市南海诚龙装饰材料有限公司 Full-automatic producing and feeding system of wood products
CN107662816A (en) * 2016-07-27 2018-02-06 昆山汉鼎精密金属有限公司 Automate dispensing press fit device and its method
CN109160271A (en) * 2018-10-23 2019-01-08 安徽辰控智能科技有限公司 A kind of gas monitoring instrument automated assembly line
CN109607201A (en) * 2018-12-13 2019-04-12 佛山迪骏自动化科技有限公司 A ceramic tile pick and place device
JP7619752B2 (en) 2022-12-27 2025-01-22 ダイハツ工業株式会社 Material Handling Equipment

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EP1142674A3 (en) * 2000-04-07 2002-07-24 Kawasaki Jukogyo Kabushiki Kaisha Robot system for transferring workpieces along a straight line
US6570356B2 (en) 2000-04-07 2003-05-27 Kawasaki Jukogyo Kabushiki Kaisha Robot system
WO2008074836A1 (en) * 2006-12-19 2008-06-26 Abb Research Ltd Parts handling device, system and method
US8855817B2 (en) 2006-12-19 2014-10-07 Abb Research Ltd. Parts handling device, system and method
CN107662816A (en) * 2016-07-27 2018-02-06 昆山汉鼎精密金属有限公司 Automate dispensing press fit device and its method
CN106429415A (en) * 2016-11-08 2017-02-22 佛山市南海诚龙装饰材料有限公司 Full-automatic producing and feeding system of wood products
CN109160271A (en) * 2018-10-23 2019-01-08 安徽辰控智能科技有限公司 A kind of gas monitoring instrument automated assembly line
CN109607201A (en) * 2018-12-13 2019-04-12 佛山迪骏自动化科技有限公司 A ceramic tile pick and place device
JP7619752B2 (en) 2022-12-27 2025-01-22 ダイハツ工業株式会社 Material Handling Equipment

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