Showing papers on "Articulated robot published in 1979"
TL;DR: In this article, the basic characteristics of sensor controlled robots are defined: workspace, actuation, positioning, orientation, sensing and decision making, and the same assembly task is described using MTM for a human operator.
Abstract: SUMMARY The industrial robot, already an accepted element in modern manufacturing, when coupled with sensors and controlled by a computer, is better modelled as an operator than as a machine. In this paper the basic characteristics of sensor controlled robots are defined : workspace, actuation, positioning, orientation, sensing and decision making. Actual values of these characteristics are given for the Stanford Arm running under the WAVE system. In order to compare a robot to a human operator we consider each of the task elements defined in an established methodology for human work analysis, method time measurement (MTM). We translate each of these work elements into robot program statements. From this comparison we find that a robot can be modelled as an operator but that a different set of work elements is appropriate. We develop a new methodology, which we call RTM (robot time and motion) and describe an actual robot assembly operation. The same assembly task is described using MTM for a human operat...
68 citations
TL;DR: In this paper, a colour-screen system with light pen has been developed for the definition of the work flow at workpiece handling from a moving conveyor to the place of deposit.
4 citations
Patent•
04 Sep 1979
TL;DR: In this paper, the turning angle theta of handle frame 14 is detected by potentiometer 19 which in turn produces a signal proportional to the turning angles theta, whereby servo valve 25 is set into operation and turning bed 2 is turned through rotation of turning motor 27.
Abstract: PURPOSE:To cause horizontal linear motion and its uniform motion of an articulated robot with ease, by automatizing turning, expansion and contraction of the robot while effecting only vertical movement by hand. CONSTITUTION:Turning bed 2 is mounted on base 1 in the manner that it can be turned about a vertical axis. Robot arm B is provided with an upper arm 4, fore arm 9 and cylinders 5, 11 for actuating the arms 4, 9. Turning angle theta of handle frame 14 is detected by potentiometer 19 which in turn produces a signal proportional to the turning angle theta, whereby servo valve 25 is set into operation and turning bed 2 is turned through rotation of turning motor 27. Further, servo valves 30, 31 are set into operation in response to signals from potentiometers 20, 21 adapted for detecting angles alpha and beta formed by upper handle 15, handle frame 14 and fore handle 17, respectively, so as to apply hydraulic pressure to cylinders 5, 11 and to thereby actuate arms 4, 9.
1 citations