Patent GB-1021304-A (GB)
Title: Manipulator control system
IPC: B25J13/06
Filed: 1963-12-13
Abstract: 1,021,304. Manipulators. PROGRAMMED & REMOTE SYSTEMS CORPORATION. Dec. 13, 1963 [Dec. 14, 1962], No. 49407/63. Heading B4Q. In a remotely controlled manipulator having an arm movable about an axis and carrying a tool, power means being provided for moving the arm and control means for controlling the power means including a movable control element, the arm has code indicia thereon to indicate a direction of movement of the arm about its axis and the control element has code indicia associated therewith and positioned so that when the control element is moved in a direction toward determined code indicia the arm will move in a direction toward corresponding code indicia thereon. The code indicia ensures that the operator moves the control element in the correct direction to produce the desired movement of the arm. As shown, the manipulator comprises a bridge 14 movable along tracks 13, the bridge supporting a carriage 25 carrying a telescopic tube assembly 35. A shoulder 40 rotatably mounted on the lower end of the assembly 35 pivotally supports an upper arm 50 pivotally connected to a forearm 60. A wrist 68 pivoted to the forearm slidably supports a member 77 on which a hand 75 is rotatable, the hand carrying jaws 76. The various motors are mounted on the manipulator and supplied through cables 89, 30 from a power centre 90 controlled by the console 95. Each of the switches on the console is of the kind which may be moved in one of two directions from a central off position against the action of a returning spring and each switch also includes a wiper arm moving over a potentiometer. Thus, depending on which direction the switch is moved, the controlled motor rotates in a certain direction to move the related part of the manipulator in a direction corresponding to the switch movement and the extent of the switch movement controls the speed of the motor. The parts of the manipulator having linear or pivotal movements are controlled by switches having linear movements whereas parts of the manipulator having rotary movement are controlled by rotary switches. The switches are described with reference to Figs. 4-6 (not shown). In the console 95 linear switches 100, 110, 115 control, respectively, the carriage 25, bridge 14 and tube assembly 35; rotary switch 120 controls shoulder 40; linear switches 132, 138, 143 control, respectively, upper arm 50, forearm 60 and wrist 68; rotary switch 148 controls the hand 75; linear switch 153 controls the member 77 and linear switch 158 controls the jaws 76. The upper and lower sections of the parts 50, 60 and 68 are provided with code indicia formed by different colouring at 128, 130 and correspondingly coloured bars 129, 131 are provided on the console. For example, if it is required to rotate the upper arm 50 about its axis 51 in the direction 133 switch 132 is moved towards bar 129. A gripping feeling for closing the jaws 76 is obtained by providing a bracket 159 which is gripped together with the switch 158. To prevent inadvertent operation of the switches they are accommodated in recesses formed in the top plate 96 of the console, one such recess being denoted by reference 101.