Method and apparatus for robotic transfer of workpieces.

摘要

A robotic apparatus for positioning a tool or work hand that incorporates a compliant wrist (18) effective to adjust to delicate but misaligned portions of the workpiece, comprising means (22) for magnetically supporting a positioning member (31) carrying a gripper tool (16), pneumatic means (27) for selectively separating and floating the positioning member (31) from said supporting means (22) to permit lateral adjustment of the positioning member (31) in response to small forces received from the gripper tool as it carries out gripping, (c) means (28) for locking the positioning member (31) to the supporting means (22) upon completion of the desired lateral adjustment.