| 摘要 |
A programmable manipulator is provided in which the manipulator arm is counter-balanced in all of its major axes and these axes are provided with low friction joints so that a relatively small force is needed to move the arm in each of its principal axes. A separate low power driving source is then used to move the arm during the teaching operation, this low power driving source being capable of developing the relatively small force needed to move the arm at low speed during the teaching operation, but being incapable of moving the arm at high speed or exerting a torque on said arm which will be potentially harmful to programming personnel. After the desired path has been taught, the manipulator apparatus is switched over to a playback mode wherein a second relatively high power source is employed to move the arm at relatively high speed during successive playback cycles. An interlock arrangement is provided for positively preventing the high power driving source from being used to move the arm during the teaching operation so that it is impossible for malfunctions in the control system or servo valves to cause a build-up of enough momentum in the arm to be harmful to the programming operator who may be in the path of such movement.
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