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SPECIMEN PERIPHERAL EDGE-GRIPPING DEVICE THAT IS ADAPTED FOR OPERATIVE COUPLING TO A MECHANISM AND GRIPPING A SPECIMEN
SPECIMEN PERIPHERAL EDGE-GRIPPING DEVICE THAT IS ADAPTED FOR OPERATIVE COUPLING TO A MECHANISM AND GRIPPING A SPECIMEN
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机译:专门用于机械耦合和抓取标本的标本外围边缘抓持设备
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摘要
A method determines axial alignment between the centroid of an end effector and the effective center of a specimen held by the end effector. The method is implemented with use of an end effector coupled to a robot arm and having a controllable supination angle. A condition in which two locations of the effective center of the specimen measured at 180° displaced supination angles do not lie on the supination axis indicates that the centroid is offset from the actual effective center of the specimen.
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