Robotic compliance mechanism
AssigneeSeagate Technology LLC
InventorsMark Anderson, Mark Toffle
Life of this patent
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Abstract
A mechanism provides compliance between a tool and a robotic arm and includes a base with a first face. The mechanism includes a post assembly with a thrust washer and a mounting post attached to the thrust washer. The thrust washer engages the first face to form a compliance joint that permits a compliance range of sliding translational motion along the first face. The mechanism comprises springs that slideably engage an outer rim surface of the post assembly and providing a compliance force resisting the sliding translational motion. A retainer is mounted to the base and compresses the thrust washer against the first face and limits rotational motion of the assembly out of a plane of the first face.
Claims20
A mechanism providing compliance between a tool and a robotic arm, the mechanism comprising:
- a base that is mountable to a first one of the robotic arm or tool, the base including a first face;
- a post assembly having a thrust washer, a mounting post attached to the thrust washer and an outer rim surface, the mounting post being mountable to a second one of the robotic arm or tool, and the thrust washer engaging the first face to form a compliance joint that permits a compliance range of sliding translational motion along the first face;
- springs slideably engaging the outer rim surface and providing a compliance force resisting the sliding translational motion;
- and
- a retainer mounted to the base, the retainer compressing the thrust washer against the first face and limiting rotational motion of the assembly out of a plane of the first face.
An interface mechanism for mounting a component installation tool to a robotic arm, the interface mechanism comprising:
- a base that is mountable to a first one of the component installation tool and the robotic arm, the base including a first face normal to a Z-axis;
- a post assembly having a mounting post to which a second one of the component installation tool and the robotic arm is mountable, the post assembly having a thrust washer that is attached to the mounting post and that engages the first face to form a compliance joint that permits a compliance range of sliding motion in a plane normal to the Z-axis and resists rotational motion in the plane normal to the Z-axis, the post assembly further having a rim surface;
- and
- springs slideably engaging the rim surface and providing a compliance force resisting the sliding motion.
A mechanism providing compliance between a tool and a robotic arm, the mechanism comprising:
- a base that is mountable to a first one of the robotic arm and the tool, the base including a first face;
- an assembly having a thrust washer with an outer rim surface and a mounting post attached to the thrust washer, the mounting post being mountable to a second one of the robotic arm and the tool, the thrust washer engaging the first face to form a compliance joint that permits a compliance range of sliding translational motion along the first face;
- spring means for slideably engaging the outer rim surface and for providing a compliance force resisting the sliding translational motion.
Dependencies are inferred from the claim text.