Robot arm having motion-limiting tether

Apparatus for limiting movement of a computer-controlled anthropomorphic robot arm to within a predetermined spacial zone, comprising:

• an energizeable computer-controlled anthropomorphic robot arm having a waist member mounted for rotation about a first axis, an upper arm member mounted for rotation about a second axis forming a right angle with respect to said first axis and a forearm member mounted for rotation about a third axis parallel to and spaced from said scond axis;
• a lanyard-type electrical switch for coupling said robot arm to a source of AC power, said switch including a power-controlling actuator actuatable between a first position where it couples said AC power to said robot arm and a second position where it interrupts said AC power to said robot arm until manually reset to its said electrical power coupling position;
• and
• means including a flexible steel cable for attaching said power-controlling actuator to said upper arm and forearm members wherein rotational movement of either said upper arm member beyond a predetermined angle or rotational movement of said forearm member beyond an angle dependent upon the angle of rotation between said first axis and said upper arm member, is coupled to said switch to thereby actuate said swtich from its said first position to its said second position and thereby interrupt electrical power to said robot arm.

Apparatus for limiting movement of a pair of robot arm members to within a predetermined spacial zone, comprising:

• an energizable robot arm having one member mounted for rotation about one axis and another member mounted for rotation about another axis spaced from and generally parallel to said one axis;
• means for coupling said robot arm to a suitable source of electrical power, said power coupling means including a power-controlling actuator actuatable between a first position where it couples said electrical power to said robot arm and a second position where it interrupts electrical power to said robot arm until subsequently reset to its said electrical power coupling position;
• and
• means attaching each of said robot arm members to said power-controlling actuator wherein rotational movement of said one robot arm member beyond a predetermined angle or rotational movement of said other robot arm member beyond an angle dependent upon the rotational position of said one robot arm member is coupled to said power-controlling actuator to thereby actuate said electrical power controlling actuator from its said first position to its said second position and thereby interrupt electrical power to said robot arm.