公开(公告)号：US4606696A

公开(公告)日：1986-08-19

申请号：US624256

申请日：1984-06-25

申请人： Alexander H. Slocum

发明人： Alexander H. Slocum

IPC分类号： B25J9/04 ,  B25J17/02 ,  B25J18/00 ,  B25J19/02 ,  B66C23/00

CPC分类号： B25J17/025 ,  B25J18/002 ,  B25J19/02 ,  B25J9/046

摘要： A mechanism to determine position and orientation in space of a robot linkage or the like. The mechanism typically includes a plurality of structural beams that form the linkage and each structural beam has an associated measuring beam which, in the preferred embodiment, is housed within the structural beam in a way that deflection of the structural beam does not impose loads on the measuring beam. Angular measuring devices and linear measuring devices serve to locate endpoints of the measuring beam and the information derived serves to locate the free end or endpoint (typically a gripper or the like) relative to an anchor to establish position and orientation at the endpoint.

摘要翻译： 用于确定机器人连杆机构的空间中的位置和取向的机构等。 该机构通常包括形成连杆机构的多个结构梁，并且每个结构梁具有相关联的测量梁，在优选实施例中，该横梁以结构梁的偏转不会在 测量光束。 角度测量装置和线性测量装置用于定位测量光束的端点，并且所导出的信息用于相对于锚点定位自由端或端点（通常为夹具等）以在端点处建立位置和取向。