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Six-axes manipulator

  • US 4,348,142 A
  • Filed: 03/13/1980
  • Issued: 09/07/1982
  • Est. Priority Date: 03/22/1979
  • Status: Expired due to Term
First Claim
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1. A six-axis manipulator for controlling the extremity of a robot arm, said manipulator comprising:

  • a central tubular support having an axis;

    four bearings on said support and each separated by 90°

    in a plane perpendicular to said support axis;

    a ring having a diameter larger than that of a section of said support, said section lying in said perpendicular plane;

    rigid and elastic means for supporting said ring on said tubular support wherein said ring and tubular support are coaxial at rest;

    at least four force sensors, for sensing forces in four directions, on each of said bearings;

    logic means for converting signals from said sensors into individual translational components along three axes and into individual rotational components about said three axes; and

    means for transmitting said components as command signals to said robot.

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