Patent Description:
Such a system and method are disclosed in the patent application <CIT>.

In robotic processing systems the end effector of the transport robot may be the most delicate and specialized part of the robotic system. For example, the end effector may include specialized griping members configured to grip any suitable item/workpiece having a predetermined shape where contact between the end effector and the item occurs at predetermined areas of the item. Generally at least a portion of the end effector that interfaces with the item is a rigid member that exerts a predetermined amount of force on the item to effect gripping of the item with the end effector. In some instances there may be an unexpected change in the environment in which the transport robot operates. For example, an object may be unintentionally located within the operating space of the transport robot where, damage to the end effector and/or the object may result if contact is made between the end effector and the object.

In one aspect, compliant robotic arms that have break away features may help mitigate the risk of damage to the end effector and/or object however, the compliant robotic arms are still capable of exerting excessive force with their end effectors. For example, conventional compliant robotic arms allow for parts of the robot arm to break away, but only over a limited distance. In other examples some parts of the conventional robotic arms may be spring loaded however; once the preload of the spring is overcome the spring exerts increasing force rather than a decreasing force. The limited movement of the breakaway features and the increasing spring force may cause damage to the robotic arm and the object unintentionally contacted by the robotic arm.

In other aspects, sensors may be placed on the end effector or at other suitable locations on the transport robot that are configured to sense obstacles in the transport robot path and/or excessive current being drawn by the transport robot drive system, which may indicate contact with the unintended object. Light curtains or other proximity sensor may also be placed in and/or around the robotic processing system so that the robotic processing system is shut down (ceases operation) when the light curtain or other proximity sensor detects an unintended object. The addition of object detection sensors in the robotic processing system may undesirably increase the complexity and cost of the robotic processing system.

<CIT> and <CIT> disclose robotic grippers having magnetically mounted workpiece engagement members for overload protection in the event of a crash Japanese patent application <CIT> discloses a workpiece grip of an industrial robot having workpiece engagement members with a frangible compliant coupling between a distal portion thereof and a base portion.

<CIT> discloses a protective device provided for a gripping device on a handling apparatus.

The object of the present invention is to improve safety of a collaborative robotic transport system.

Accordingly, the present invention provides a collaborative robotic transport system as defined in claim <NUM> and a corresponding method as defined in claim <NUM>.

The foregoing aspects and other features of the disclosed embodiment are explained in the following description, taken in connection with the accompanying drawings, wherein:.

The aspects of the disclosed embodiment described herein address the problems of conventional collaborative robotic processing systems, as noted herein, by providing a collaborative robotic processing system that includes at least one end effector that has frangible compliant workpiece engagement members that detach from the end effector when a predetermined force is exerted on the workpiece engagement members. The aspects of the disclosed embodiment also provide for "snap on" type reattachment of the workpiece engagement members on the end effector at a predetermined operating location, relative to a predetermined reference datum of the robotic transport arm, after unintended contact with an object OBJ1-OBJ5 (see <FIG>) so that re-teaching/re-calibrating of the robotic transport is unnecessary and where the object OBJ1-OBJ5 and the robotic processing system are located in a collaborative operating space SPC (see <FIG>). As such, the aspects of the disclosed embodiment may eliminate the need for object detection and/or proximity sensors within the robotic processing system. The aspects of the disclosed embodiment may also prevent distortion and/or damage to the end effector, the transport robot, the workpiece/item carried by the robotic transport and/or an object OBJ1-OBJ5 that is unintentionally located within the collaborative operating space SPC of the robotic transport.

<FIG> and <FIG> illustrate a robotic processing system <NUM> in accordance with one or more aspects of the disclosed embodiment. Although the aspects of the disclosed embodiment will be described with reference to the drawings, it should be understood that the aspects of the disclosed embodiment can be embodied in many forms. In addition, any suitable size, shape or type of elements or materials could be used.

Referring to <FIG> and <FIG>, in one aspect, the robotic processing system <NUM> includes a collaborative operating space SPC in which one or more mobile carts 110A-110F of the robotic processing system <NUM> are located. The robotic processing system <NUM> may also include an automated system <NUM>, disposed in the collaborative operating space SPC, to which the one or more mobile carts 110A-110F are operably interfaced. Each of the mobile carts 110A-110F may include one or more of a robotic transport arm <NUM>, <NUM>, one or more workpiece holding stations 140A, 140B, an operator interface <NUM> and any other suitable instrumentation, processing and/or storage equipment suitable for interfacing with the workpiece(s) handled by the robotic processing system <NUM>. As may be realized, a user or operator may access one or more regions of the collaborative operating space SPC (e.g. interface <NUM>, one or more holding stations 140A, 140B, or other location on mobile carts <NUM>) directly, and at times such access may be coincident or coexistent with robotic transport arm <NUM>, <NUM>, <NUM> operation within the collaborative operating space SPC. For example, an operator may place or pick a workpiece on or from a holding station 140A, 140B in anticipation of a robotic pick of that workpiece as an aspect of a collaborative action with the robotic transport arm <NUM>, <NUM>, <NUM>. Accordingly the robotic transport arm <NUM>, <NUM>, <NUM> and operator collaborate in the collaborative operating space SPC in some aspects as will be described further below. In one aspect, each of the mobile carts 110A-110F includes one or more datum surfaces or features that are in a known spatial relationship with a sensor (or other detectable feature) of a respective mobile cart 110A-110F. In one aspect, the features (such as robotic transport arms, workpiece holding stations and any other instrumentation/equipment) of each mobile cart 110A-110F are in a known relationship with the one or more datum surfaces or features where the robotic processing system <NUM> may include a device or tool for sending a signal indicating the position of the mobile cart features to the automated system <NUM> as described in, for example, <CIT>.

In one aspect, the automated system <NUM> includes any suitable robotic transport arm <NUM> for accessing one or more features of the one or more mobile carts 110A-110F. In one aspect, the robotic transport arm may be a selective compliant articulated robot arm (SCARA arm) or any other arm suitable for transporting workpieces in the collaborative space SPC. For example, the robotic transport arm <NUM> may be configured to access the workpiece holding stations 140A, 140B, interface with the robotic transport arms <NUM>, <NUM> or interface/access any other suitable instrumentation/processing equipment of the one or more mobile carts 110A-110F as described in <CIT>. In one aspect, the automated system <NUM> is configured as a cluster tool and has a hexagonal configuration where six mobile carts are operably interfaced with six facets of the automated system <NUM>. In other aspects, the automated system <NUM> may have any number of facets (e.g. pentagonal, octagonal, rectangular, etc.) so that any suitable number of mobile carts 110A-110F may be interfaced with the automated system <NUM>.

Referring to <FIG>, in one aspect, two or more robotic processing systems 100A, 100B may be operably coupled to each other in any suitable manner as described in <CIT>, <CIT>, and <CIT>. The robotic processing systems 100A, 100B may be substantially similar to robotic processing system <NUM> described above where each of the robotic processing systems 100A, 100B includes an automated system <NUM> and any suitable number of mobile carts <NUM>. Here, any suitable interface station <NUM> operably couples the robotic processing systems 100A, 100B to each other so that workpieces may be transferred from one robotic processing system 100A, 100B to the other robotic processing system 100A, 100B through the interface station <NUM> in any suitable manner.

Referring to <FIG>, in one aspect, the robotic processing system 100C may be in the form of a linear system as described in <CIT>, <CIT>, and <CIT>. For example, the automated system 170A (which is substantially similar to automated system <NUM> described above) in this aspect, has a linear arrangement where the robotic transport arm <NUM> traverses linearly along rail 170R for accessing mobile carts <NUM> arranged (in a manner substantially similar to that described above) along opposite sides of the automated system 170A. As described above, any suitable interface station 320A may be provided to interface more than one automated system 170A to each other. In one aspect, each of the mobile carts <NUM>, 110A-110F and the automated system <NUM>, 170A include any suitable control system(s) 480A, 480B (similar to control system <NUM> described herein) that is configured to carry out any suitable operation of the respective mobile cart <NUM>, 110A-110F and automated system <NUM>, 170A. In one aspect, the control systems 480A of the mobile carts <NUM>, 110A-110F may be configured to communicate with the control system 480B of the automated system <NUM>, 170A for coordinating operations between the mobile carts <NUM>, 110A-110F and the automated system <NUM>, 170A. In other aspects, the control system of the automated system <NUM>, 170A may be configured to control operations of the automated carts <NUM>, 110A-10F connected to the automated system <NUM>, 170A.

Referring now to <FIG>, the robotic processing system <NUM>, 100A, 100B, 100C may include a mobile cart 110F that is substantially similar to that described in <CIT>. For example, the mobile cart 110F may include a pipetting chamber <NUM>, a storage chamber <NUM> coupled with the pipetting chamber <NUM>, and a control system <NUM> (which may be any suitable control system having a processor configured to carry out any suitable operations of the robotic processing system 100D). While the pipetting chamber <NUM> and storage chamber <NUM> are shown as being included in a common housing or frame 422F (which forms part the collaborative operating space SPC in which the components of the mobile cart 110F operate and interface with other mobile carts <NUM>, 110A-110E and automated system <NUM>, 170A) in other aspects, the pipetting chamber <NUM> may be separated from the storage chamber <NUM>, such that the pipetting chamber <NUM> can act as an independent pipetting chamber. In one aspect, the pipetting chamber <NUM> may be accessible through one or more doors <NUM>, where the pipetting chamber <NUM> is sealed from an ambient environment when the one or more doors <NUM> are closed. The storage chamber <NUM> may also be similarly sealed from the ambient environment by one or more doors <NUM>.

In one aspect, the pipetting chamber <NUM> may include a set of pipettor cartridges <NUM> docked in the pipetting chamber <NUM> at any suitable dock location of the pipetting chamber <NUM>. The pipetting chamber <NUM> may also include at least one tray dock <NUM> for holding pipetting trays <NUM>. The pipetting chamber <NUM> may include any suitable carrier <NUM> that is configured to transport each of the pipettor cartridges <NUM> to a pipetting location, e.g. a location of at least one of the pipetting trays <NUM> within a tray dock <NUM> in the pipetting chamber <NUM>. In one aspect, the carrier <NUM> is a gantry system while in other aspects the carrier may be any suitable transport such as an articulated robotic transport arm. The mobile cart <NUM> may also include any suitable robotic transport arm <NUM> (which is substantially similar to one or more of robotic transport arm <NUM>, <NUM>, <NUM>) configured to move pipetting trays <NUM> between the pipetting chamber <NUM> and a storage carousel <NUM> of the storage chamber <NUM>.

Referring to <FIG> another exemplary mobile cart <NUM>, which may be substantially similar to one or more of mobile carts 110A-110E, is illustrated. In one aspect, the mobile cart <NUM> includes a frame 422F that forms a part of a collaborative operating space SPC (see <FIG>) in which a pipetting tray storage, such as storage carousel <NUM>, any suitable robotic transport arm <NUM> and one or more processing stations <NUM>-<NUM> are located. The robotic transport arm <NUM> is configured to transport the pipetting trays <NUM> between the storage carousel <NUM>, the processing stations <NUM>-<NUM> and/or the automated system <NUM>, 170A. In other aspects, the robotic transport arm <NUM> of the automated system <NUM>, 170A may be configured to transport pipetting trays <NUM> between any one of the processing stations <NUM>-<NUM>, the storage carousel <NUM> and/or robotic transport arm <NUM> and any other mobile cart <NUM> connected to the automated system <NUM>, 170A.

Referring to <FIG>, in one aspect, the robotic transport arm <NUM> includes one or more arm links 422A, 422B and end effector 422E. In one aspect, the robotic transport arm <NUM> includes a carriage <NUM> that is movably mounted to a Z axis track 422T for movement along the Z axis. The robotic transport arm <NUM> includes any suitable drive section 422D that is connected to a frame 422F of the robotic transport arm <NUM>, where the drive section 422D is configured to move the robotic transport arm <NUM> in the manner described herein. For example, the robotic transport arm <NUM> may be coupled to the drive section 422D so that the drive section 422D provides the robotic transport arm <NUM> with robot motion in at least one axis moving at least a portion of the robotic transport arm <NUM> in a collaborative operating space SPC, corresponding to the frame 422F, from a first location to another different location of at least the portion of the collaborative operating space SPC. In one aspect, such as with robotic transport arm <NUM>, the carriage <NUM> may be configured to rotate about a rotation axis AX of the robotic transport arm <NUM> (and may also be movable in the Z axis) as illustrated in <FIG>, while in other aspects, the carriage <NUM> is mounted for movement along the X or Y axes (and may also be movable in the Z axis) as shown in <FIG>. A first end of arm link 422A is rotatably coupled to the carriage <NUM> about axis BX. A first end of arm link 422B is rotatably coupled to the second end of arm link 422A about axis CX. The end effector 422E is rotatably coupled to the second end of arm link 422B about axis DX. While two arm links 422A, 422B and end effector 422E are illustrated as being serially coupled to one another in other aspects the robotic transport arm <NUM> may include more than two arm links and more than one end effector.

The robotic transport arm <NUM> is configured to move the end effector 422E, under the control of any suitable controller (such as those described herein), in a theta θ direction about, for example, axis BX and in a radial direction R (in other aspects Cartesian coordinates may be used where the end effector is moved in the X and/or Y directions in a manner comparable to movement in the radial direction R). Referring still to <FIG>, the end effector 422E includes/is provided with a base portion <NUM> and workpiece grip <NUM> having workpiece engagement members <NUM>, <NUM> (<FIG>, Block <NUM>) that are configured to engage and hold a workpiece, such as pipetting trays <NUM>, during workpiece transport, such as by the robotic transport arm motion in at least one axis of motion. In one aspect, the workpiece engagement members <NUM>, <NUM> are movably coupled to the base portion <NUM> so that at least one of the workpiece engagement members <NUM>, <NUM> is movable, through activation of the drive section 422D, in direction <NUM> relative to each other and/or the base portion <NUM> for effecting the gripping and release of the workpiece while (e.g. the workpiece engagement members <NUM>, <NUM> are active gripping members) while, in other aspects, the workpiece engagement members <NUM>, <NUM> may be stationarily coupled to the base portion <NUM> for passively engaging the workpiece without relative movement between each other and/or the base portion <NUM> (e.g. the workpiece engagement members <NUM>, <NUM> are passive griping members). In this aspect, one or more of the workpiece engagement members <NUM>, <NUM> is configured for linear translation in direction <NUM> but it should be understood that in other aspects the workpiece engagement members <NUM>, <NUM> may be moved in any suitable manner relative to each other and/or the base portion 600B for gripping and releasing the workpiece. For example, the workpiece engagement members <NUM>, <NUM> may be rotatably mounted to the base portion 600B for gripping and releasing the workpiece through a rotation of one or more of the workpiece engagement members <NUM>, <NUM>.

At least one of the workpiece engagement members <NUM>, <NUM> is coupled to the base portion <NUM> so that the workpiece engagement member <NUM>, <NUM> is frangibly compliant. For example, at least one of the workpiece engagement members <NUM>, <NUM> is coupled to the base portion <NUM> by a frangible compliant coupling <NUM> that is located between a distal portion 611DP, 612DP of the workpiece engagement member <NUM>, <NUM> and the base portion <NUM> of the end effector 422E from which the at least one workpiece engagement member <NUM>, <NUM> depends (<FIG>, Block <NUM>). The frangible compliant coupling <NUM> is configured to remain rigid until frangible yielding reaction in a snap on engagement interface (described below) of the frangible compliant coupling <NUM> breaks away (with resultant break away of the workpiece engagement member <NUM>, <NUM> from the base portion <NUM> of the end effector 422E) at a predetermined force threshold, such as specified in e.g. the American National Standards Institute (ANSI) R <NUM> standards, the International Organization for Standardization (ISO) <NUM>-<NUM> standards and/or the ISO/TS-<NUM> standards, all of which standards are incorporated herein by reference in their entireties. As will be described herein at the predetermined force threshold the at least one workpiece engagement member <NUM>, <NUM> breaks away from the base portion <NUM> of the end effector 422E. In one aspect, the yield point/force required to break the workpiece engagement member <NUM>, <NUM> from the base portion <NUM> of the end effector <NUM> may depend on the manner in which the workpiece engagement member <NUM>, <NUM> is coupled to the base portion <NUM>. In one aspect, the frangible compliant coupling <NUM> is configured to provide about a <NUM> pound holding force for gripping workpieces (such as, for example, gripping workpieces that have a mass of about <NUM> grams) where the yield force required to separate each of the workpiece engagement members <NUM>, <NUM> from the respective base member <NUM> is suitable for a collaborative operating space SPC and may be in the range from about <NUM> Newtons to about <NUM> Newtons. In other aspects, the holding force provided by the frangible compliant coupling may be greater or less than about <NUM> pounds and the yield force may be greater than about <NUM> Newtons or less than about <NUM> Newtons.

The frangible compliant coupling <NUM> is also configured to align the workpiece engagement member <NUM>, <NUM> with the base portion <NUM>, a coordinate system of the robotic transport arm and/or a coordinate system of the robotic processing systems described herein. As may be realized, since at least one of the workpiece engagement members <NUM>, <NUM> is frangibly coupled to the base portion <NUM> the positioning of the at least one workpiece engagement member <NUM>, <NUM> is controlled, as described herein, to ensure that the robotic transport arm <NUM>, <NUM>, <NUM> consistently grip the workpiece in a predetermined position.

Referring to <FIG> and <FIG> the frangible compliant coupling <NUM> includes a base portion mounting member 630A, 630B and a grip interface portion 640A, 640B that are coupled to each other by a magnetic coupling. In other aspects, any suitable coupling may be provided between the base portion mounting member 630A, 630B and the grip interface portion 640A, 640B such as, for example, with shear pins, shear locations and adhesives. In one aspect, base portion mounting member 630A, 630B of the frangible compliant coupling <NUM> includes/is provided with deterministic features, as described herein, that define a snap on engagement interface mating with complementing features of the workpiece engagement member <NUM>, <NUM> (<FIG>, Block <NUM>) (where a snap on reattachment is provided as an automatic coupling interface engagement where the coupling interface engagement and alignment of the workpiece engagement member <NUM>, <NUM> is performed in substantially one step). For example, as described above, where the workpiece engagement members <NUM>, <NUM> are movable relative to the base portion <NUM>, the base portion mounting member 630A, 630B may be movably mounted to the base portion <NUM>. Where the workpiece engagement members <NUM>, <NUM> are stationary relative to the base portion <NUM>, the base portion mounting member 630A, 630B may be stationarily mounted to the base portion <NUM>. The base portion mounting member 630A, 630B (it is noted that base portion mounting member 630B and workpiece engagement member <NUM> are illustrated in <FIG> however, base portion mounting member 630A and workpiece engagement member <NUM> are similarly configured) includes base member <NUM> and a magnetic member <NUM> coupled to the base member <NUM>. In one aspect, the base member <NUM> includes a boss or alignment portion <NUM> that extends from a side surface 701S1 of the base member <NUM> opposite a side surface 701S2 of the base member <NUM> that the workpiece engagement member is coupled to. The boss <NUM> is configured to interface with a corresponding recess of the base portion <NUM> so that the base member <NUM> is located in a predetermined position/orientation relative to base portion <NUM> of the end effector 422E. In other aspects, alignment between the base member <NUM> and the base portion <NUM> of the end effector may be effected in any suitable manner, such as with alignment pins, shoulder bots, interfacing between one or more surfaces, etc. In one aspect, any suitable shims may be placed between the base member <NUM> and the base portion <NUM> of the end effector 422E for aligning/positioning the base member <NUM> relative to the base portion <NUM>. The base member <NUM> may be coupled to the base portion in any suitable manner such as with mechanical fasteners.

The base member <NUM> also includes a recess 701R in which the magnetic member <NUM> is disposed. The magnetic member <NUM> may be coupled to the base member <NUM> within the recess 701R in any suitable manner such as which mechanical or chemical fasteners or through a press or interference fit. In one aspect, a surface <NUM> of the magnetic member <NUM> forms a substantially continuous surface with the surface 701S2 of the base member <NUM> so that a substantially flat interface surface is provided for coupling with the workpiece engagement member <NUM>. In one aspect, the base member <NUM> may be constructed of a magnetic material, such as for example, magnetic stainless steel or any other suitable magnetic material. In one aspect, the base member <NUM> includes one or more datum features that are configured to, when the workpiece engagement member <NUM> is coupled to the base member <NUM>, align the workpiece engagement member <NUM> in a predetermined orientation relative to the base portion <NUM> of the end effector 422E and/or a predetermined reference datum of the robotic transport arm so that a location and orientation of at least a gripper <NUM> of the workpiece engagement member <NUM> is known in, for example, the transport robot coordinate system (e.g. R, θ shown in <FIG> and/or X, Y, Z shown in <FIG>).

The workpiece engagement member <NUM>, <NUM> includes an elongated body 611B having a mounting portion <NUM> and a gripping portion <NUM>. The datum surfaces <NUM>, 611S2, <NUM>, <NUM> are disposed at and formed by at least the mounting portion <NUM> of the workpiece engagement member <NUM>, <NUM>. The mounting portion <NUM> may have any suitable shape and configuration, such as a shape and configuration that is complimentary to or corresponds with the base member <NUM>. The mounting portion <NUM> may include a recess 611R that receives a magnetic member <NUM> in a manner substantially similar to that described above with respect to magnetic member <NUM> and recess 701R where a surface <NUM> of the magnetic member <NUM> and a surface 611S2 of the mounting portion <NUM> for a substantially flat interface surface that interfaces with the substantially flat interface surface formed by surfaces <NUM>, 701S2. In another aspect, the magnetic member <NUM> may be sized and shaped to provide a surface <NUM> that corresponds to the substantially flat surface formed by the surfaces <NUM>, 701S2 (where, e.g. the magnetic member <NUM> is about twice the size of the magnetic member <NUM> - in other aspects the magnetic members <NUM>, <NUM> may have any suitable size relation). In one aspect, the workpiece engagement member <NUM>, <NUM> may be constructed of any suitable magnetic material in a manner similar to that described above with respect to the base member <NUM>. Here the magnetic member <NUM> is configured to mate or couple with magnetic member <NUM> to provide the gripping and yield forces described above. The gripper <NUM>, which is located at the gripping portion <NUM> of the workpiece engagement member <NUM>, <NUM> is configured to mate with the workpiece in any suitable manner for transporting the workpiece.

In one aspect, the frangible compliant coupling <NUM> provides the workpiece engagement member <NUM>, <NUM> with deterministic features that repeatably position the workpiece engagement member <NUM>, <NUM> with respect to predetermined reference datum (such as axis AX, BX or a transport plane of the workpiece) of the robotic transport arm <NUM>, <NUM>, <NUM>. In one aspect, the predetermined reference datum is aligned with a workpiece transport plane TP (see <FIG>) defined in part by at least one axis of motion R, θ, X, Y, Z of the robotic transport arm <NUM>, <NUM>, <NUM>. In one aspect the base member <NUM> includes datum features <NUM>-<NUM> that each have surfaces <NUM>-<NUM> that interface with corresponding datum surfaces <NUM>, <NUM> of the workpiece engagement member <NUM> for aligning the workpiece engagement member <NUM>, <NUM> with the base portion <NUM>, a coordinate system of the robotic transport arm and/or a coordinate system of the robotic processing systems. In other aspects, alignment of the workpiece engagement member <NUM> may be provided in any suitable manner such as with shear pins, reference edges, detent devices and removable fixtures. In this aspect, one or more of the surfaces <NUM>, <NUM> of the base member <NUM> are configured to interface with datum surface <NUM> of the workpiece engagement member <NUM>, <NUM> for aligning the workpiece engagement member <NUM>, <NUM> along a first axis (such as e.g. the Z axis) while the surface <NUM> interfaces with the datum surface <NUM> of the workpiece engagement member <NUM>, <NUM> for aligning the workpiece engagement member <NUM>, <NUM> along a second axis (e.g. the R axis or one of the X or Y axes). In one aspect, the surfaces <NUM>, <NUM> are magnetic surfaces that, with the magnetic member <NUM>, hold the workpiece engagement member <NUM>, <NUM> to the base member <NUM>. The workpiece engagement member <NUM>, <NUM> also includes a datum surface(s) <NUM>, 611S2 that interfaces with the surface(s) <NUM>, 701S2 for aligning the workpiece engagement member <NUM>, <NUM> along a third axis (e.g. the θ axis or the other one of the X or Y axes).

In one aspect, the datum surface <NUM> may be a cylindrical or other curved surface to provide a point contact between the workpiece engagement member <NUM> and the base member <NUM>. As described herein the point contact provided by the datum surface <NUM> may cause rotation of the workpiece engagement member <NUM> about datum feature <NUM> when a force is applied to the workpiece engagement member in a predetermined direction, such as direction <NUM> (see <FIG>).

Referring also to <FIG> the workpiece engagement member <NUM>, <NUM> has a shape that, in cooperation with the complementing engagement features between the workpiece engagement member <NUM>, <NUM> and base member <NUM> of the frangible compliant coupling <NUM>, induces prying moments on the workpiece engagement member <NUM>, <NUM> relative to the base member <NUM>. For example, the mounting portion <NUM> may be laterally offset from the gripping portion <NUM> by any suitable distance J (where the longitudinal axis LAX extends along a length of the body 611B). While the gripping portion <NUM> is shown laterally offset to the side of the workpiece engagement member <NUM> on which the magnetic member <NUM> is located in other aspects, the gripping portion <NUM> may be laterally offset to a side of the workpiece engagement member <NUM> that is opposite the magnetic member <NUM>. Referring also to <FIG> the gripping portion <NUM> may also be spaced a predetermined distance J2 from the datum surface <NUM> so that, when coupled to the base member <NUM> the gripping portion <NUM> is offset from the datum surface <NUM>. In other aspects, the workpiece engagement member <NUM>, <NUM> has any suitable shape and/or configuration that induces prying moments on the workpiece engagement member <NUM>, <NUM> relative to the base member <NUM>. For example, as will be described in greater detail below, with brief reference to <FIG>, a force F applied to the workpiece engagement member <NUM>, <NUM> produces a reactionary force FR1 at, at least, the surface <NUM> of the datum feature <NUM> where the force F and the reactionary force FR1 are offset by the distance J and produce the prying moment <NUM> as seen in <FIG>. Similarly, as seen in <FIG>, the force F and the reactionary force FR1 at the surface <NUM> are also offset by distance J2 and produce prying moment <NUM>.

In one aspect, the frangible compliant coupling <NUM> between each workpiece engagement member <NUM>, <NUM> and the end effector 422E provides frangible compliance so that the workpiece engagement member <NUM>, <NUM> breaks away from the end effector 422E during unintended contact between the workpiece engagement member <NUM>, <NUM> and an obstruction in arm motion in the at least one axis R, θ, X, Y, Z of the robotic transport arm <NUM>, <NUM>, <NUM>. As will be described below, in one aspect, the workpiece engagement member <NUM>, <NUM> breaks away from unintended contact with obstruction in arm motion in each axis R, θ, X, Y, Z of the at least one axis of motion of the robotic transport arm <NUM>, <NUM>, <NUM>. In one aspect, the workpiece engagement <NUM>, <NUM> member is configured so that the workpiece engagement member <NUM>, <NUM> breaks away from the end effector 422E at the frangible compliant coupling <NUM> from unintended contact with obstruction in arm motion in each axis R, θ, X, Y, Z of the at least one axis of motion of the robotic transport arm <NUM>, <NUM>, <NUM>.

Referring to <FIG>, in operation, where the robotic transport arm <NUM>, <NUM>, <NUM> is moved along the R axis (or one of the X or Y axes corresponding to the R axis) (<FIG> Block <NUM>)so that the workpiece engagement member <NUM>, <NUM> contacts an unintended object OBJ1-OBJ5 (see <FIG>) within the collaborative operating space SPC and a force F is exerted on the workpiece engagement member <NUM>, <NUM> in the direction <NUM>, the offsets distances J, J2 in the body 611B of the workpiece engagement member <NUM>, <NUM> cause prying moments acting on the workpiece engagement member <NUM>, <NUM> (<FIG> Block <NUM>). For example, force F in direction <NUM> acts on the workpiece engagement member <NUM>, <NUM> to cause rotation of the workpiece engagement member <NUM>, <NUM> about surface <NUM> in direction <NUM> (where the distance J2 is the moment arm) so that surface <NUM> is pried away from surface(s) <NUM>, <NUM> and surface <NUM> (and surface 611S2) slides or is moved relative to surface(s) <NUM>, 701S2 and in one aspect, the workpiece engagement member <NUM>, <NUM> separates from a respective base member <NUM> (and hence from the end effector 422E). As may be realized, the surfaces <NUM>, <NUM>, <NUM>, <NUM>, 611S2, <NUM>, 701S2 form a frangible interface. Also, the force F in direction <NUM> acts on the workpiece engagement member <NUM>, <NUM> to cause rotation of the workpiece engagement member <NUM>, <NUM> in direction <NUM> about surface <NUM> (where the distance J is the moment arm) so that surface <NUM> (and surface 611S2) is pried away from surface(s) <NUM>, 701S2 and surface <NUM> slides or is moved relative to surface(s) <NUM>, <NUM> and in one aspect, the workpiece engagement member <NUM>, <NUM> separates from a respective base member <NUM> (and hence from the end effector 422E).

Where the robotic transport arm <NUM>, <NUM>, <NUM> is moved along the Z axis (<FIG>, Block <NUM>) so that the workpiece engagement member <NUM>, <NUM> contacts an unintended object OBJ1-OBJ5 within the collaborative operating space SPC and a force F2 is exerted on the workpiece engagement member <NUM>, <NUM> in the direction <NUM>, the workpiece engagement member <NUM>, <NUM> is rotated in direction <NUM> about surface <NUM> so that surface <NUM> is pried away from surface(s) <NUM>, <NUM> and surface <NUM> (and surface 611S2) slides or is moved relative to surface(s) <NUM>, 701S2 and in one aspect, the workpiece engagement member <NUM>, <NUM> separates from a respective base member <NUM> (and hence from the end effector 422E) (<FIG>, Block <NUM>). Where the robotic transport arm <NUM>, <NUM>, <NUM> is moved along the Z axis so that the workpiece engagement member <NUM>, <NUM> contacts an unintended object OBJ1-OBJ5 within the collaborative operating space SPC and a force F5 is exerted on the workpiece engagement member <NUM>, <NUM> in the direction <NUM>, the workpiece engagement member <NUM>, <NUM> is rotated in direction <NUM> about an edge of surface <NUM> so that surface <NUM> is pried away from surface(s) <NUM>, <NUM> and surface <NUM> (and surface 611S2) slides or is moved relative to surface(s) <NUM>, 701S2 and in one aspect, the workpiece engagement member <NUM>, <NUM> separates from a respective base member <NUM> (and hence from the end effector 422E). Here the surface <NUM> may also slide or move relative to the surface <NUM> during rotation of the workpiece engagement member <NUM>, <NUM> in direction <NUM>.

Where the robotic transport arm <NUM>, <NUM>, <NUM> is moved along the θ axis (or one of the X or Y axes) (<FIG> Block <NUM>) so that the workpiece engagement member <NUM>, <NUM> contacts an unintended object OBJ1-OBJ5 within the collaborative operating space SPC and a force F3 is exerted on the workpiece engagement member <NUM>, <NUM> in the direction <NUM>, the workpiece engagement member <NUM>, <NUM> is rotated in direction <NUM> about surfaces <NUM> and <NUM> (and 701S2) so that surface <NUM> slides or moves relative to surface(s) <NUM>, <NUM> and surface <NUM> (and surface 611S2) is pried away from surface(s) <NUM>, 701S2 and in one aspect, the workpiece engagement member <NUM>, <NUM> separates from a respective base member <NUM> (and hence from the end effector 422E) (<FIG> Block <NUM>). Where the robotic transport arm <NUM>, <NUM>, <NUM> is moved along the θ axis (or one of the X or Y axes) so that the workpiece engagement member <NUM>, <NUM> contacts an unintended object OBJ1-OBJ5 within the collaborative operating space SPC and a force F4 is exerted on the workpiece engagement member <NUM>, <NUM> in the direction <NUM>, the workpiece engagement member <NUM>, <NUM> is rotated in direction <NUM> about an edge of surfaces <NUM> (and <NUM>) so that surface <NUM> slides or moves relative to surface(s) <NUM>, <NUM> and surface <NUM> (and surface 611S2) is pried away from surface(s) <NUM>, 701S2 and in one aspect, the workpiece engagement member <NUM>, <NUM> separates from a respective base member <NUM> (and hence from the end effector 422E).

As may be realized, the robot movements along the R, θ, and Z axes or the X, Y and Z axes may be combined so that the prying moments produced by the forces F, F2-F5 are combined in any suitable manner causing movement of the frangible interface formed by surfaces <NUM>, <NUM>, <NUM>, <NUM>, 611S2, <NUM>, 701S2. In one aspect, as described above, the frangible compliant coupling <NUM> provides for complete separation of the at least one workpiece griping member <NUM>, <NUM> (it is note that in one aspect both workpiece engagement members are configured with the frangible compliant coupling <NUM> as illustrated in the figures). The frangible complaint coupling <NUM> described herein also remains rigid relative to the base portion <NUM> of the end effector 422E with respect to each axis R, θ, X, Y, Z of motion of the at least one axis of motion of the robotic transport arm <NUM>, <NUM>, <NUM> until the predetermined yielding force threshold is met. In one aspect, after the at least one of the workpiece engagement members <NUM>, <NUM> has been moved relative to (e.g. displaced or entirely disconnected) the base portion <NUM> of the end effector 422E, the at least one workpiece engagement members <NUM>, <NUM> may be recoupled to the base portion <NUM> (<FIG>, Block <NUM>) such as by the "snap on" type reattachment where the snap on reattachment is an automatic coupling interface engagement where the coupling interface engagement and alignment of the workpiece engagement member <NUM>, <NUM> is performed in substantially one step. For example, the at least one workpiece engagement members <NUM>, <NUM> is snapped on a respective base portion mounting member 630A, 630B where the at least one workpiece engagement members <NUM>, <NUM> are located relative to a predetermined reference datum (as described herein) using the deterministic features (such as surfaces 701S1, <NUM>, <NUM>, <NUM>, <NUM>) in substantially one step.

In accordance with one or more aspects of the disclosed embodiment a robotic transport system comprises.

In accordance with one or more aspects of the disclosed embodiment the at least one of the workpiece engagement members is frangible compliant so that the at least one of the workpiece engagement members breaks away from the end effector during unintended contact between the at least one of the workpiece engagement members and an obstruction in the arm motion in the at least one axis of motion of the articulated arm.

In accordance with one or more aspects of the disclosed embodiment the at least one of the workpiece engagement members breaks away from the end effector during unintended contact with an obstruction in each axis of the arm motion in at least one axis of motion of articulated the arm.

In accordance with one or more aspects of the disclosed embodiment the at least one of the workpiece engagement members is frangible compliant so that the at least one of the workpiece engagement members breaks away from the end effector at the frangible compliant coupling during unintended contact with an obstruction in arm motion in each axis of the at least one axis of motion of the articulated arm.

In accordance with one or more aspects of the disclosed embodiment the frangible compliant coupling has as a frangible interface between a coupling portion of the base portion of the end effector and a mating coupling portion of the at least one of the workpiece engagement members.

In accordance with one or more aspects of the disclosed embodiment the frangible compliant coupling is configured so that the at least one of the workpiece engagement members is substantially rigid relative to the base portion of the end effector with respect to each axis of the arm motion in at least one axis of motion of the articulated arm.

In accordance with one or more aspects of the disclosed embodiment the frangible compliant coupling has a workpiece engagement member interface with deterministic features repeatably positioning the at least one of the workpiece engagement members with respect to predetermined reference datum of the articulated arm.

In accordance with one or more aspects of the disclosed embodiment the predetermined reference datum of the articulated arm is aligned with a workpiece transport plane defined in part by the arm motion in at least one axis of motion.

In accordance with one or more aspects of the disclosed embodiment the frangible compliant coupling deterministic features define a snap on engagement interface mating with complementing features of the at least one of the workpiece engagement members.

In accordance with one or more aspects of the disclosed embodiment the at least one of the workpiece engagement members is frangible compliant so that break away from the base portion of the end effector complies with at least one of ANSI R <NUM> standards, ISO <NUM>-<NUM> standards, or ISO/TS-<NUM> standards.

In accordance with one or more aspects of the disclosed embodiment a method includes providing a drive section connected to a frame of a robotic transport system, providing an articulated arm having an end effector with a workpiece grip having workpiece engagement members, the articulated arm operably coupled to the drive section providing the articulated arm with robot motion in at least one axis moving at least a portion of the articulated arm in a collaborative space, corresponding to the frame, from a first location to another different location of at least the portion of the articulated arm in the collaborative space, engaging and holding a workpiece with the workpiece engagement members during workpiece transport, by the arm motion in the at least one axis of motion, wherein at least one of the workpiece engagement members is frangible compliant, having a frangible compliant coupling between a distal portion of the at least one of the workpiece engagement members and a base portion of the end effector from which the at least one of the workpiece engagement members depends.

In accordance with one or more aspects of the disclosed embodiment breaking the at least one of the workpiece engagement members away from the end effector during unintended contact between the at least one of the workpiece engagement members and an obstruction in the arm motion in the at least one axis of motion of the articulated arm.

In accordance with one or more aspects of the disclosed embodiment breaking the at least one of the workpiece engagement members away from the end effector during unintended contact with an obstruction in each axis of the arm motion in at least one axis of motion of the articulated arm.

In accordance with one or more aspects of the disclosed embodiment breaking the at least one of the workpiece engagement members away from the end effector at the frangible compliant coupling during unintended contact with an obstruction in each axis of the arm motion in at least one axis of motion of the articulated arm.

In accordance with one or more aspects of the disclosed embodiment repeatably positioning the at least one of the workpiece engagement members with respect to predetermined reference datum of the articulated arm with deterministic features of a workpiece engagement member interface of the frangible compliant coupling,.

In accordance with one or more aspects of the disclosed embodiment the at least one of the workpiece engagement members is frangible compliant so that breaking away from the base portion of the end effector complies with at least one of ANSI R <NUM> standards, ISO <NUM>-<NUM> standards, or ISO/TS-<NUM> standards.

Claim 1:
A collaborative robotic transport system comprising:
a frame (422F);
a drive section (422D) connected to the frame;
an articulated arm (<NUM>) operably coupled to the drive section providing the articulated arm with arm motion in at least one axis of motion moving at least a portion of the articulated arm in a collaborative space (SPC), corresponding to the frame, from a first location to another different location of at least the portion of the articulated arm in the collaborative space;
the articulated arm having an end effector (422E) with a workpiece grip (<NUM>) having workpiece engagement members (<NUM>, <NUM>) engaging and holding a workpiece during workpiece transport, by the arm motion in the at least one axis of motion;
characterized in that at least one of the workpiece engagement members is frangible compliant, having a frangible compliant coupling (<NUM>) between a distal portion (611DP, 612DP) of the at least one of the workpiece engagement members and a base portion (<NUM>) of the end effector from which the at least one of the workpiece engagement members depends, wherein the frangible compliant coupling has a yield or holding force, suitable for the collaborative space, required to separate the at least one of the workpiece engagement members from the base portion (<NUM>).