Patent ID: 6368012
Filing Date: 2002-04-09
Classification: B23C,B23P,B25J,Y10T

Abstract:
A compliant end effector for securing an implement to a robot with a robotic arm, the implement having a reference axis and a tool for performing work on a workpiece, the compliant end effector comprising:a mounting assembly including a mounting bracket that forms an opening, said mounting bracket being rigidly secured to the robotic arm; a gripping assembly including a support bracket, the implement being rigidly secured to said support bracket; a biasing assembly that biases the implement and gripping assembly into a biased position, the reference axis of the implement forming a reference line when in said biased position; and, a compliant assembly for joining said mounting and gripping assemblies, said compliant assembly including a collar that forms an opening, said opening of said collar being aligned with said opening of said mounting bracket, the implement passing through said openings of said collar and said mounting bracket, said collar being pivotally connected to said mounting assembly via a first connection permitting said collar to pivot about a first pivot axis relative to said mounting assembly, and said collar being pivotally connected to said gripping assembly via a second connection permitting said gripping assembly to pivot about a second pivot axis relative to said collar, said compliant assembly allowing the implement and said gripping assembly to pivot out of said biased position and allowing the implement and its tool to pivot about said reference line.