Importance

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Abstract

A hybrid robot (10) for industrial applications comprises an articulated arm assembly (12) pivoted to a turntable assembly (14) mounted for rotation on a base assembly (16). The arm assembly (12) includes an upper arm (26) pivoted to a lower arm (30). A tool adaptor (52) is connected to the upper arm (26) by a wrist assembly (54). A pantograph linkage interconnects the wrist assembly (54), upper arm (26), and lower arm (30) so that the tool adaptor is normally maintained in constant orientation during movement of the arm assembly (12), subject to overriding control by actuators (122, 124). Pivotal movement of the arm assembly (12) is controlled by independent actuators (118, 120) which can be selectively coupled to the arms (26, 30) at different combinations of predetermined points (38, 40, 44, 46, 48) to facilitate adjustment of the work envelope. The turntable assembly 14 is controlled by a brake assembly (202-216) responsive to an encoder (180) for positioning at the arc extremes and at least one intermediate position.

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First Claim