Locus interpolation device
AssigneeKabushiki Kaisha Yaskawa Denki Seisakusho
InventorsKaoru Kimura, Masanori Nishi, Yoshikatsu Minami
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Abstract
A locus interpolation device characterized in that the device is attached to an end of a wrist of a movable structure such as a robot, with a tool supported by the device, and a circular or noncircular locus is interpolated by controlling the operation of the tool independently from that of the movable structure.
Claims7
A locus interpolation device provided at the end of a movable member, said device comprising an operational shaft having an end provided with tool-supporting means, said operational shaft being rotatable about a first rotating center which is eccentric with respect to a tool mounted thereon, a rotating shaft for supporting and rotating said operational shaft, said rotating shaft being rotatable about a second rotating center which is spaced apart from the first rotating center by a predetermined distance, said operational shaft being rotated such that a radial distance between the tool and said second rotating center is made equal to a radius of circular movement of said tool to control the operation of said tool independently from the movement of said movable member in a manner interpolating the locus of circular and noncircular configuration.
Dependencies are inferred from the claim text.