| 摘要 |
<p>The programmable manipulator is for interfitting two randomly oriented parts, wherein, the manipulator arm may not be capable of interfitting one part with the other in response to conventional programming methods. The manipulator arm is programmed to move the parts into engagement while establishing a biasing force tending to facilitate insertion of the parts once they are in correct alignment. One of the parts is then moved in a search area around the desired insertion axis until alignment is achieved where upon the established biasing force causes the parts to become interfitted. In one embodiment, the article gripper is vibrated and shock absorbers prevent the development of false error signals.</p> |
