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Flexible-frame robot

  • US 4,661,039 A
  • Filed: 09/23/1985
  • Issued: 04/28/1987
  • Est. Priority Date: 10/20/1983
  • Status: Expired due to Term
First Claim
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1. A flexible-frame robot, comprising:

  • a base;

    a segmented body having one end secured to said base;

    said body including a plurality of aligned members, each member including a pair of end segments and a middle segment;

    an opposite pair of springs interconnecting corresponding adjacent end segments of the members of said body;

    the middle segment of each member including mating piston and cover sections, the piston section including an opposite pair of openings oriented transverse to said pair of springs;

    a pair of bladder diaphragms disposed between adjacent middle segments of the members of said body, each diaphragm being in fluid communication through the corresponding openings in the piston sections thereof to define two passageways adapted for connection at said one end of said body to a source of fluid under pressure, whereby angular displacement of said body can be controlled as desired; and

    means connected to the other end of said body for gripping an object.

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