Robotic end-effector with active system compliance and micro- positioning capability

摘要

The robotic end-effector system comprises a mounting bracket assembly attached to a manipulator arm of a robot. A dual shaft motor is attached to the mounting bracket assembly. The motor has first and second rotatable output shafts. The first shaft is for mounting an encoder for providing position data. A mechanical drive mechanism is connected to the motor and to the mounting bracket assembly. The mechanical drive mechanism converts rotational motion of the second output shaft to translational motion. A passive compliance system is connected to the mechanical drive mechanism. A load sensor system is supported by the compliance system for providing force data. An end-effector end piece is connected to the load sensor system. A closed loop computer control system is in communication with the motor for processing the position data and the force data for providing micro positioning of the end- effector end piece and for providing an active system compliance, thereby achieving the desired end-effector function.