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Title: Robotic end effector

An end effector is described for use in probing a surface with a robotic arm. The end effector has a first portion that carries a gimbal with a probe, the gimbal holding the probe normal to the surface, and a second portion with a set of three shafts within a housing for urging the gimbal and probe against the surface. The second portion contains a potentiometer connected by another shaft to the first portion to measure the position of the first portion with respect to the second so that the second portion can be moved to place and maintain the shafts at the midpoint of their travel. Then, as irregularities in the surface are encountered, the first portion can respond by moving closer to or farther from the second portion. 7 figures.
Inventors:
Issue Date:
OSTI Identifier:
5444237
Assignee:
PTO; EDB-94-046672
Patent Number(s):
US 5249457; A
Application Number:
PPN: US 7-755422
Contract Number:
AC09-89SR18035
Resource Relation:
Patent File Date: 5 Sep 1991
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING; CONTROL EQUIPMENT; DESIGN; ROBOTS; SURFACES; MONITORING; OPERATION; EQUIPMENT; 420500* - Engineering- Materials Testing