| 摘要 |
<p>A mechanical closed loop robotic arm end effector positioning system allows less precise robots to perform high precision tasks. The system includes a wrist assembly (11) which is mountable to the robotic arm (12) near the arm's distal functional end. The wrist assembly (11) has a compliant member (16) and a first positioning member (18) connected thereto. The first positioning member (18) includes a first docking means (22). A second positioning member (26) associated with a workpiece fixture (28) includes a second docking means (24). The first and second docking means (22 and 24 respectively) are sized and positioned to engageably mate within the robotic arm's resolution when the robotic arm (12) attains a target position relative to the workpiece fixture (28). The compliant member (16) provides rotational and translational freedom of movement for the docking means (22 and 24) to mate as the robotic arm (12) attains its target coordinates and orientation.</p> |
